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

2 files changed, 9 insertions, 12 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;
 			}
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 2e076cdae..11072403e 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -59,7 +59,7 @@ typedef enum {
 bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const 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, const int mavlink_fd = 0);
+		arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd);
 
 transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);