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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-18 16:48:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-18 16:48:43 +0200 |
| commit | dc484c1d21fcb7bc4f4be97853647321e8a147e1 (patch) | |
| tree | 4b51a2ff911967318d725bf58bed77b1247468b5 /apps/commander/commander.c | |
| parent | e707574f73b8ed0e9103fd999bd43847c657b5e1 (diff) | |
| download | px4-firmware-dc484c1d21fcb7bc4f4be97853647321e8a147e1.tar.gz px4-firmware-dc484c1d21fcb7bc4f4be97853647321e8a147e1.tar.bz2 px4-firmware-dc484c1d21fcb7bc4f4be97853647321e8a147e1.zip | |
State machine cleanup, introduced variable rates for MAVLink depending on the baud rate
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 47829ddf5..149a662fd 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -95,10 +95,7 @@ static int leds; static int buzzer; static int mavlink_fd; static bool commander_initialized = false; -static struct vehicle_status_s current_status = { - .state_machine = SYSTEM_STATE_PREFLIGHT, - .mode = 0 -}; /**< Main state machine */ +static struct vehicle_status_s current_status; /**< Main state machine */ static int stat_pub; static uint16_t nofix_counter = 0; @@ -798,6 +795,7 @@ int commander_main(int argc, char *argv[]) /* make sure we are in preflight state */ memset(¤t_status, 0, sizeof(current_status)); current_status.state_machine = SYSTEM_STATE_PREFLIGHT; + current_status.flag_system_armed = false; /* advertise to ORB */ stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); @@ -905,8 +903,8 @@ int commander_main(int argc, char *argv[]) } /* toggle error led at 5 Hz in HIL mode */ - if ((current_status.mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { - /* armed */ + if (current_status.flag_hil_enabled) { + /* hil enabled */ led_toggle(LED_AMBER); } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { |