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| author | Julian Oes <julian@oes.ch> | 2013-07-16 18:55:32 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-16 18:56:31 +0200 |
| commit | bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac (patch) | |
| tree | c91207643c0c9e1057dd1662556dbfe7f5b5322c /src/modules/commander/state_machine_helper.c | |
| parent | 6e44a486c1511e980d54fead34676ea1bfed3b3d (diff) | |
| download | px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.tar.gz px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.tar.bz2 px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.zip | |
Changed location of lots of flags and conditions, needs testing and more work
Diffstat (limited to 'src/modules/commander/state_machine_helper.c')
| -rw-r--r-- | src/modules/commander/state_machine_helper.c | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index 0b241d108..792ead8f3 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -510,7 +510,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current /** * Transition from one hil state to another */ -int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state) +int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, int control_mode_pub, struct vehicle_control_mode_s *current_control_mode, const int mavlink_fd) { bool valid_transition = false; int ret = ERROR; @@ -530,7 +530,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status if (current_status->arming_state == ARMING_STATE_INIT || current_status->arming_state == ARMING_STATE_STANDBY) { - current_status->flag_hil_enabled = false; + current_control_mode->flag_system_hil_enabled = false; mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); valid_transition = true; } @@ -541,7 +541,7 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status if (current_status->arming_state == ARMING_STATE_INIT || current_status->arming_state == ARMING_STATE_STANDBY) { - current_status->flag_hil_enabled = true; + current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; } @@ -558,8 +558,11 @@ int hil_state_transition(int status_pub, struct vehicle_status_s *current_status current_status->counter++; current_status->timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + + current_control_mode->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); + ret = OK; } else { mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition"); |