diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 49 |
1 files changed, 40 insertions, 9 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 2a2bcca72..9211a512e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -214,7 +214,7 @@ void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicl transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); -void print_reject_mode(const char *msg); +void print_reject_mode(struct vehicle_status_s *current_status, const char *msg); void print_reject_arm(const char *msg); @@ -620,6 +620,8 @@ int commander_thread_main(int argc, char *argv[]) /* make sure we are in preflight state */ memset(&status, 0, sizeof(status)); status.condition_landed = true; // initialize to safe value + // We want to accept RC inputs as default + status.rc_input_blocked = false; /* armed topic */ orb_advert_t armed_pub; @@ -1076,7 +1078,7 @@ int commander_thread_main(int argc, char *argv[]) } /* ignore RC signals if in offboard control mode */ - if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0 && !status.rc_input_blocked) { /* start RC input check */ if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { /* handle the case where RC signal was regained */ @@ -1470,7 +1472,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this state // else fallback to SEATBELT - print_reject_mode("EASY"); + print_reject_mode(current_status, "EASY"); } res = main_state_transition(current_status, MAIN_STATE_SEATBELT); @@ -1479,7 +1481,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this mode if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages - print_reject_mode("SEATBELT"); + print_reject_mode(current_status, "SEATBELT"); // else fallback to MANUAL res = main_state_transition(current_status, MAIN_STATE_MANUAL); @@ -1493,7 +1495,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this state // else fallback to SEATBELT (EASY likely will not work too) - print_reject_mode("AUTO"); + print_reject_mode(current_status, "AUTO"); res = main_state_transition(current_status, MAIN_STATE_SEATBELT); if (res != TRANSITION_DENIED) @@ -1512,16 +1514,25 @@ check_main_state_machine(struct vehicle_status_s *current_status) } void -print_reject_mode(const char *msg) +print_reject_mode(struct vehicle_status_s *current_status, const char *msg) { hrt_abstime t = hrt_absolute_time(); if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "#audio: warning: reject %s", msg); + sprintf(s, "#audio: REJECT %s", msg); mavlink_log_critical(mavlink_fd, s); - tune_negative(); + + // only buzz if armed, because else we're driving people nuts indoors + // they really need to look at the leds as well. + if (current_status->arming_state == ARMING_STATE_ARMED) { + tune_negative(); + } else { + + // Always show the led indication + led_negative(); + } } } @@ -1795,7 +1806,15 @@ void *commander_low_prio_loop(void *arg) } else if ((int)(cmd.param4) == 1) { /* RC calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); - calib_ret = do_rc_calibration(mavlink_fd); + /* disable RC control input completely */ + status.rc_input_blocked = true; + calib_ret = OK; + mavlink_log_info(mavlink_fd, "CAL: Disabling RC IN"); + + } else if ((int)(cmd.param4) == 2) { + /* RC trim calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_trim_calibration(mavlink_fd); } else if ((int)(cmd.param5) == 1) { /* accelerometer calibration */ @@ -1806,6 +1825,18 @@ void *commander_low_prio_loop(void *arg) /* airspeed calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param4) == 0) { + /* RC calibration ended - have we been in one worth confirming? */ + if (status.rc_input_blocked) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + /* enable RC control input */ + status.rc_input_blocked = false; + mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN"); + } + + /* this always succeeds */ + calib_ret = OK; + } if (calib_ret == OK) |