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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-12 21:08:51 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-12 21:08:51 +0100 |
| commit | e9942e4af7f5b35e7d3efe4381ed6127e5c6a91c (patch) | |
| tree | ffff919ddffffce303ca5f3aa757e4d1204e02fc /apps/commander/state_machine_helper.c | |
| parent | 7d8d7a76b986e7acefb4a61f3da3625db1f6dd11 (diff) | |
| download | px4-firmware-e9942e4af7f5b35e7d3efe4381ed6127e5c6a91c.tar.gz px4-firmware-e9942e4af7f5b35e7d3efe4381ed6127e5c6a91c.tar.bz2 px4-firmware-e9942e4af7f5b35e7d3efe4381ed6127e5c6a91c.zip | |
minor HIL related tweaks
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index a64d99cd4..891efe9d7 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -579,6 +579,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_ state_machine_publish(status_pub, current_status, mavlink_fd); publish_armed_status(current_status); printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); + } else if (current_status->state_machine != SYSTEM_STATE_STANDBY) { + mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.") } /* NEVER actually switch off HIL without reboot */ |