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| author | Julian Oes <joes@student.ethz.ch> | 2013-03-25 14:53:54 -0700 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-03-25 14:53:54 -0700 |
| commit | 3665d7b86fdbd8489099dafb436aaddcb816efde (patch) | |
| tree | 624053f620eeeb7c9fc7d3fda6e74215486eea09 /apps/commander/state_machine_helper.c | |
| parent | b1e2011fcc068709574ddaab3d8bc831abcb7de8 (diff) | |
| download | px4-firmware-3665d7b86fdbd8489099dafb436aaddcb816efde.tar.gz px4-firmware-3665d7b86fdbd8489099dafb436aaddcb816efde.tar.bz2 px4-firmware-3665d7b86fdbd8489099dafb436aaddcb816efde.zip | |
Improved command handling, added a low priority task and various fixes
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index 79394e2ba..ba01f8410 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -117,6 +117,22 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta current_state->flag_fmu_armed = false; } break; + case ARMING_STATE_REBOOT: + + /* an armed error happens when ARMED obviously */ + if (current_state->arming_state == ARMING_STATE_INIT + || current_state->arming_state == ARMING_STATE_STANDBY + || current_state->arming_state == ARMING_STATE_STANDBY_ERROR) { + + ret = OK; + current_state->flag_fmu_armed = false; + + } + break; + case ARMING_STATE_IN_AIR_RESTORE: + + /* XXX implement */ + break; default: break; } |