diff options
| -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) { |