diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 4 | ||||
-rw-r--r-- | src/modules/commander/commander.cpp | 51 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 2 |
3 files changed, 49 insertions, 8 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8318238e2..0f90db858 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1519,8 +1519,8 @@ PX4IO::print_status() uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); printf("arming 0x%04x%s%s%s%s%s%s\n", arming, - ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""), - ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), + ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""), ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 30906034e..12543800e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -273,6 +273,43 @@ void usage(const char *reason) void print_status() { warnx("usb powered: %s", (on_usb_power) ? "yes" : "no"); + + /* read all relevant states */ + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + struct vehicle_status_s state; + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + + const char* armed_str; + + switch (state.arming_state) { + case ARMING_STATE_INIT: + armed_str = "INIT"; + break; + case ARMING_STATE_STANDBY: + armed_str = "STANDBY"; + break; + case ARMING_STATE_ARMED: + armed_str = "ARMED"; + break; + case ARMING_STATE_ARMED_ERROR: + armed_str = "ARMED_ERROR"; + break; + case ARMING_STATE_STANDBY_ERROR: + armed_str = "STANDBY_ERROR"; + break; + case ARMING_STATE_REBOOT: + armed_str = "REBOOT"; + break; + case ARMING_STATE_IN_AIR_RESTORE: + armed_str = "IN_AIR_RESTORE"; + break; + default: + armed_str = "ERR: UNKNOWN STATE"; + break; + } + + + warnx("arming: %s", armed_str); } void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) @@ -945,9 +982,9 @@ int commander_thread_main(int argc, char *argv[]) /* store current state to reason later about a state change */ // bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; - bool global_pos_valid = status.condition_global_position_valid; - bool local_pos_valid = status.condition_local_position_valid; - bool airspeed_valid = status.condition_airspeed_valid; + // bool global_pos_valid = status.condition_global_position_valid; + // bool local_pos_valid = status.condition_local_position_valid; + // bool airspeed_valid = status.condition_airspeed_valid; /* check for global or local position updates, set a timeout of 2s */ @@ -1274,11 +1311,15 @@ int commander_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); } - /* publish vehicle status at least with 1 Hz */ - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { + /* publish states (armed, control mode, vehicle status) at least with 5 Hz */ + if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) { status.counter++; status.timestamp = t; orb_publish(ORB_ID(vehicle_status), status_pub, &status); + control_mode.timestamp = t; + orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); + armed.timestamp = t; + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); } /* play arming and battery warning tunes */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 5842a33b1..1e31573d6 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -119,7 +119,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s * { ret = TRANSITION_CHANGED; armed->armed = true; - armed->ready_to_arm = false; + armed->ready_to_arm = true; } break; |