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| author | Julian Oes <julian@oes.ch> | 2014-06-27 14:41:38 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 14:41:38 +0200 |
| commit | faebf1751426a51068196d731eaed5699d328f0d (patch) | |
| tree | 0d2f614a9fbf6069c77933c64a0e114df2628ca0 /src/modules/commander/commander.cpp | |
| parent | ee6e0000980f2127913dfec73b1981b559f85877 (diff) | |
| parent | cc8f7f4c97de923f60f9469aa2847e6e1474d52d (diff) | |
| download | px4-firmware-faebf1751426a51068196d731eaed5699d328f0d.tar.gz px4-firmware-faebf1751426a51068196d731eaed5699d328f0d.tar.bz2 px4-firmware-faebf1751426a51068196d731eaed5699d328f0d.zip | |
Merge branch 'navigator_rewrite' into navigator_rewrite_offboard2_merge
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 19 |
1 files changed, 8 insertions, 11 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e0927a50c..6a0ed041b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -976,7 +976,7 @@ int commander_thread_main(int argc, char *argv[]) if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); arming_state_changed = true; } @@ -1175,18 +1175,16 @@ int commander_thread_main(int argc, char *argv[]) status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; if (armed.armed) { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { - warnx("changed 1"); arming_state_changed = true; } } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { - warnx("changed 2"); arming_state_changed = true; } } @@ -1198,7 +1196,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { /* TODO: check for sensors */ - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; @@ -1257,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[]) if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } @@ -1282,7 +1280,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); } else { - arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; } @@ -2019,8 +2017,7 @@ void *commander_low_prio_loop(void *arg) int calib_ret = ERROR; /* try to go to INIT/PREFLIGHT arming state */ - - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } @@ -2083,7 +2080,7 @@ void *commander_low_prio_loop(void *arg) tune_negative(true); } - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); break; } |