diff options
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index a62b1437a..b44d2150c 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -111,7 +111,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { invalid_state = false; - mavlink_log_info(mavlink_fd, "[commander] Switched to PREFLIGHT state"); + mavlink_log_critical(mavlink_fd, "[commander] Switched to PREFLIGHT state"); } else { invalid_state = true; mavlink_log_critical(mavlink_fd, "[commander] REFUSED to switch to PREFLIGHT state"); @@ -161,6 +161,9 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con current_status->state_machine = new_state; state_machine_publish(status_pub, current_status, mavlink_fd); } + if (invalid_state) { + mavlink_log_critical(mavlink_fd, "[commander] REJECTING invalid state transition"); + } } void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) { @@ -476,7 +479,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; current_status->control_manual_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { printf("[commander] auto mode\n"); do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); |