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author | Julian Oes <julian@oes.ch> | 2014-06-27 14:39:36 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-27 14:39:36 +0200 |
commit | cc8f7f4c97de923f60f9469aa2847e6e1474d52d (patch) | |
tree | 4a5895a4421fbd66a2159de08c3ad70506b55051 /src/modules/commander/commander.cpp | |
parent | 3aab37e0e04ce98ddacd99e238e626ab5c3d4445 (diff) | |
parent | f3a77705a701a92ae510e18280136b3b7f204b3e (diff) | |
download | px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.tar.gz px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.tar.bz2 px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.zip |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/modules/commander/commander.cpp
src/modules/commander/state_machine_helper.h
src/modules/mavlink/mavlink_messages.cpp
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 ec4273fc3..1535967b1 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -956,7 +956,7 @@ 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; } @@ -1155,18 +1155,16 @@ 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; } } @@ -1178,7 +1176,7 @@ 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; @@ -1237,7 +1235,7 @@ 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; } @@ -1262,7 +1260,7 @@ 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; } @@ -1938,8 +1936,7 @@ 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; } @@ -2002,7 +1999,7 @@ 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; } |