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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-15 09:52:22 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-15 09:52:22 +0200 |
| commit | cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc (patch) | |
| tree | 3346625caf7b752f4b13bcbffd5427f455ada9e5 /src/modules/commander/state_machine_helper.h | |
| parent | 0bbc4b7012c72fda61dca01a897552e9483a4f5f (diff) | |
| download | px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.tar.gz px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.tar.bz2 px4-firmware-cc9f1e81adaa71c5f86f56df45cf14f8bc8e7abc.zip | |
Rejecting arming if safety switch is not in safe position, added reboot command
Diffstat (limited to 'src/modules/commander/state_machine_helper.h')
| -rw-r--r-- | src/modules/commander/state_machine_helper.h | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index c8c77e5d8..a38c2497e 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -47,6 +47,7 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/safety.h> #include <uORB/topics/vehicle_control_mode.h> typedef enum { @@ -56,7 +57,10 @@ typedef enum { } transition_result_t; -transition_result_t arming_state_transition(struct vehicle_status_s *current_state, arming_state_t new_arming_state, struct actuator_armed_s *armed); +transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, + arming_state_t new_arming_state, struct actuator_armed_s *armed); + +bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); bool check_arming_state_changed(); |