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testing cleanup

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This commit is contained in:
Daniel Agar
2016-04-24 13:26:27 -04:00
committed by Lorenz Meier
parent 12165ba5a4
commit 008354f935
11 changed files with 153 additions and 145 deletions
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8
src/modules/commander/state_machine_helper.cpp
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@@ -80,7 +80,7 @@ using namespace DriverFramework;
#endif
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
@@ -145,10 +145,11 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery);
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags->condition_system_sensors_initialized
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
@@ -280,6 +281,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if ((!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
status_flags->condition_system_prearm_error_reported = true;
}