diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 22 |
1 files changed, 15 insertions, 7 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 9aba61e14..39892ea01 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -220,14 +220,22 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s } /* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR && - new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - if (status->condition_system_sensors_initialized) { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); - } else { - mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); + if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { + + if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + + if (status->condition_system_sensors_initialized) { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming"); + } else { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm"); + } + feedback_provided = true; + + } else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && + status->condition_system_sensors_initialized) { + mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete"); + feedback_provided = true; } - feedback_provided = true; } // Finish up the state transition |