diff options
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index 68b4bbe30..f1de99e4d 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -304,8 +304,11 @@ int do_arming_state_update(int status_pub, struct vehicle_status_s *current_stat bool valid_transition = false; int ret = ERROR; + warnx("Current state: %d, requested state: %d", current_status->arming_state, new_state); + if (current_status->arming_state == new_state) { warnx("Arming state not changed"); + valid_transition = true; } else { @@ -333,6 +336,12 @@ int do_arming_state_update(int status_pub, struct vehicle_status_s *current_stat } else { mavlink_log_critical(mavlink_fd, "REJ. STANDBY arming state, sensors not init."); } + + } else if (current_status->arming_state == ARMING_STATE_ARMED) { + + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "Switched to STANDBY arming state"); + valid_transition = true; } break; |