diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.c')
| -rw-r--r-- | src/modules/commander/state_machine_helper.c | 19 |
1 files changed, 17 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index 394ee67cc..87aad6270 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -54,9 +54,25 @@ #include <mavlink/mavlink_log.h> #include "state_machine_helper.h" +#include "commander.h" + +bool is_multirotor(const struct vehicle_status_s *current_status) +{ + return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) || + (current_status->system_type == VEHICLE_TYPE_TRICOPTER)); +} + +bool is_rotary_wing(const struct vehicle_status_s *current_status) +{ + return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER) + || (current_status->system_type == VEHICLE_TYPE_COAXIAL); +} int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) { - + + int ret = ERROR; /* only check transition if the new state is actually different from the current one */ @@ -717,7 +733,6 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat // } - ///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ // //int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) |