diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 42 |
1 files changed, 26 insertions, 16 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 3cef10185..490fc8fc6 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -67,7 +67,9 @@ static bool main_state_changed = true; static bool navigation_state_changed = true; transition_result_t -arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed) +arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, + const struct vehicle_control_mode_s *control_mode, + arming_state_t new_arming_state, struct actuator_armed_s *armed) { /* * Perform an atomic state update @@ -82,6 +84,13 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * } else { + /* enforce lockdown in HIL */ + if (control_mode->flag_system_hil_enabled) { + armed->lockdown = true; + } else { + armed->lockdown = false; + } + switch (new_arming_state) { case ARMING_STATE_INIT: @@ -98,7 +107,8 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow coming from INIT and disarming from ARMED */ if (status->arming_state == ARMING_STATE_INIT - || status->arming_state == ARMING_STATE_ARMED) { + || status->arming_state == ARMING_STATE_ARMED + || control_mode->flag_system_hil_enabled) { /* sensors need to be initialized for STANDBY state */ if (status->condition_system_sensors_initialized) { @@ -115,7 +125,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * /* allow arming from STANDBY and IN-AIR-RESTORE */ if ((status->arming_state == ARMING_STATE_STANDBY || status->arming_state == ARMING_STATE_IN_AIR_RESTORE) - && (!safety->safety_switch_available || safety->safety_off)) { /* only allow arming if safety is off */ + && (!safety->safety_switch_available || safety->safety_off || control_mode->flag_system_hil_enabled)) { /* only allow arming if safety is off */ ret = TRANSITION_CHANGED; armed->armed = true; armed->ready_to_arm = true; @@ -228,8 +238,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_SEATBELT: - /* need altitude estimate */ - if (current_state->condition_local_altitude_valid) { + /* need at minimum altitude estimate */ + if (current_state->condition_local_altitude_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } @@ -237,8 +248,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m case MAIN_STATE_EASY: - /* need local position estimate */ - if (current_state->condition_local_position_valid) { + /* need at minimum local position estimate */ + if (current_state->condition_local_position_valid || + current_state->condition_global_position_valid) { ret = TRANSITION_CHANGED; } @@ -464,20 +476,17 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s case HIL_STATE_OFF: - if (current_status->arming_state == ARMING_STATE_INIT - || current_status->arming_state == ARMING_STATE_STANDBY) { - - current_control_mode->flag_system_hil_enabled = false; - mavlink_log_critical(mavlink_fd, "Switched to OFF hil state"); - valid_transition = true; - } + /* we're in HIL and unexpected things can happen if we disable HIL now */ + mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)"); + valid_transition = false; break; case HIL_STATE_ON: if (current_status->arming_state == ARMING_STATE_INIT - || current_status->arming_state == ARMING_STATE_STANDBY) { + || current_status->arming_state == ARMING_STATE_STANDBY + || current_status->arming_state == ARMING_STATE_STANDBY_ERROR) { current_control_mode->flag_system_hil_enabled = true; mavlink_log_critical(mavlink_fd, "Switched to ON hil state"); @@ -495,13 +504,14 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s if (valid_transition) { current_status->hil_state = new_state; - current_status->counter++; current_status->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_status); current_control_mode->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, current_control_mode); + // XXX also set lockdown here + ret = OK; } else { |