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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-24 21:33:03 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-24 21:33:03 +0200 |
| commit | 571e139c24464902470901501c5bbfb618c1258c (patch) | |
| tree | 9ed13451f442382361276febd7e5698e53a7a3fe /src/modules/commander/state_machine_helper.cpp | |
| parent | 68442e31ac6970be91592282c9b70ebc76fa142d (diff) | |
| download | px4-firmware-571e139c24464902470901501c5bbfb618c1258c.tar.gz px4-firmware-571e139c24464902470901501c5bbfb618c1258c.tar.bz2 px4-firmware-571e139c24464902470901501c5bbfb618c1258c.zip | |
commander: Formatting and logic flow cleanup, no functional change
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 24 |
1 files changed, 15 insertions, 9 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 87309b238..1a5a52a02 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,6 +34,9 @@ /** * @file state_machine_helper.cpp * State machine helper functions implementations + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #include <stdio.h> @@ -133,15 +134,20 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (valid_transition) { // We have a good transition. Now perform any secondary validation. if (new_arming_state == ARMING_STATE_ARMED) { - // Fail transition if we need safety switch press // Allow if coming from in air restore // Allow if HIL_STATE_ON - if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); - } + if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && + status->hil_state == HIL_STATE_OFF) { + + // Fail transition if we need safety switch press + if (safety->safety_switch_available && !safety->safety_off) { - valid_transition = false; + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); + } + + valid_transition = false; + } } } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { |