diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
-rw-r--r-- | src/modules/commander/commander.cpp | 56 |
1 files changed, 38 insertions, 18 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 43683f833..f8dcec8cb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -624,22 +624,34 @@ int commander_thread_main(int argc, char *argv[]) warnx("starting"); char *main_states_str[MAIN_STATE_MAX]; - main_states_str[0] = "MANUAL"; - main_states_str[1] = "ALTCTL"; - main_states_str[2] = "POSCTL"; - main_states_str[3] = "AUTO_MISSION"; - main_states_str[4] = "AUTO_LOITER"; - main_states_str[5] = "AUTO_RTL"; - main_states_str[6] = "ACRO"; + main_states_str[MAIN_STATE_MANUAL] = "MANUAL"; + main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL"; + main_states_str[MAIN_STATE_POSCTL] = "POSCTL"; + main_states_str[MAIN_STATE_AUTO_MISSION] = "AUTO_MISSION"; + main_states_str[MAIN_STATE_AUTO_LOITER] = "AUTO_LOITER"; + main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL"; + main_states_str[MAIN_STATE_ACRO] = "ACRO"; char *arming_states_str[ARMING_STATE_MAX]; - arming_states_str[0] = "INIT"; - arming_states_str[1] = "STANDBY"; - arming_states_str[2] = "ARMED"; - arming_states_str[3] = "ARMED_ERROR"; - arming_states_str[4] = "STANDBY_ERROR"; - arming_states_str[5] = "REBOOT"; - arming_states_str[6] = "IN_AIR_RESTORE"; + arming_states_str[ARMING_STATE_INIT] = "INIT"; + arming_states_str[ARMING_STATE_STANDBY] = "STANDBY"; + arming_states_str[ARMING_STATE_ARMED] = "ARMED"; + arming_states_str[ARMING_STATE_ARMED_ERROR] = "ARMED_ERROR"; + arming_states_str[ARMING_STATE_STANDBY_ERROR] = "STANDBY_ERROR"; + arming_states_str[ARMING_STATE_REBOOT] = "REBOOT"; + arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE"; + + char *nav_states_str[NAVIGATION_STATE_MAX]; + nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL"; + nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL"; + nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL"; + nav_states_str[NAVIGATION_STATE_AUTO_MISSION] = "AUTO_MISSION"; + nav_states_str[NAVIGATION_STATE_AUTO_LOITER] = "AUTO_LOITER"; + nav_states_str[NAVIGATION_STATE_AUTO_RTL] = "AUTO_RTL"; + nav_states_str[NAVIGATION_STATE_ACRO] = "ACRO"; + nav_states_str[NAVIGATION_STATE_LAND] = "LAND"; + nav_states_str[NAVIGATION_STATE_DESCEND] = "DESCEND"; + nav_states_str[NAVIGATION_STATE_TERMINATION] = "TERMINATION"; /* pthread for slow low prio thread */ pthread_t commander_low_prio_thread; @@ -844,7 +856,7 @@ int commander_thread_main(int argc, char *argv[]) /* check which state machines for changes, clear "changed" flag */ bool arming_state_changed = false; bool main_state_changed = false; - bool failsafe_state_changed = false; + bool failsafe_old = false; while (!thread_should_exit) { @@ -1366,18 +1378,26 @@ int commander_thread_main(int argc, char *argv[]) was_armed = armed.armed; /* now set navigation state according to failsafe and main state */ - set_nav_state(&status); + bool nav_state_changed = set_nav_state(&status); + // TODO handle mode changes by commands if (main_state_changed) { status_changed = true; + warnx("main state: %s", main_states_str[status.main_state]); mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]); main_state_changed = false; } - if (failsafe_state_changed) { + if (status.failsafe != failsafe_old) { status_changed = true; mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe); - failsafe_state_changed = false; + failsafe_old = status.failsafe; + } + + if (nav_state_changed) { + status_changed = true; + warnx("nav state: %s", nav_states_str[status.nav_state]); + mavlink_log_info(mavlink_fd, "[cmd] nav state: %s", nav_states_str[status.nav_state]); } /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ |