diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index e1d2d72d1..58a123adf 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -78,11 +78,11 @@ static const int ERROR = -1; // code for those checks. static const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX] = { // INIT, STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE - { /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, false, false, false }, + { /* vehicle_status_s::ARMING_STATE_INIT */ true, true, false, false, true, false, false }, { /* vehicle_status_s::ARMING_STATE_STANDBY */ true, true, true, true, false, false, false }, { /* vehicle_status_s::ARMING_STATE_ARMED */ false, true, true, false, false, false, true }, { /* vehicle_status_s::ARMING_STATE_ARMED_ERROR */ false, false, true, true, false, false, false }, - { /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, false, true, true, false, false }, + { /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ true, true, true, true, true, false, false }, { /* vehicle_status_s::ARMING_STATE_REBOOT */ true, true, false, false, true, true, true }, { /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false, false, false, false, false, false }, // NYI }; @@ -215,6 +215,7 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational."); feedback_provided = true; valid_transition = false; + new_arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR; } // Finish up the state transition |