diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index c7256583a..31955d3e5 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -42,6 +42,8 @@ #include <unistd.h> #include <stdint.h> #include <stdbool.h> +#include <dirent.h> +#include <fcntl.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> @@ -50,6 +52,7 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_device.h> #include <mavlink/mavlink_log.h> #include "state_machine_helper.h" @@ -332,6 +335,33 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); valid_transition = true; + + // Disable publication of all attached sensors + + /* list directory */ + DIR *d; + struct dirent *direntry; + d = opendir("/dev"); + if (d) { + + while ((direntry = readdir(d)) != NULL) { + + int sensfd = ::open(direntry->d_name, 0); + int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0); + close(sensfd); + + printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL"); + } + + closedir(d); + + warnx("directory listing ok (FS mounted and readable)"); + + } else { + /* failed opening dir */ + warnx("FAILED LISTING DEVICE ROOT DIRECTORY"); + return 1; + } } break; @@ -382,16 +412,22 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f break; case FAILSAFE_STATE_RTL: + /* global position and home position required for RTL */ if (status->condition_global_position_valid && status->condition_home_position_valid) { + status->set_nav_state = NAV_STATE_RTL; + status->set_nav_state_timestamp = hrt_absolute_time(); ret = TRANSITION_CHANGED; } break; case FAILSAFE_STATE_LAND: + /* at least relative altitude estimate required for landing */ if (status->condition_local_altitude_valid || status->condition_global_position_valid) { + status->set_nav_state = NAV_STATE_LAND; + status->set_nav_state_timestamp = hrt_absolute_time(); ret = TRANSITION_CHANGED; } |