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Re-send the RC config warnings once the GCS is connected, fixed compile warnings

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Lorenz Meier
2014-06-30 12:19:08 +02:00
parent 8e41cbfdfa
commit 3f6851b987
3 changed files with 27 additions and 9 deletions
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26
src/modules/commander/commander.cpp
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@@ -371,16 +371,16 @@ void print_status()
static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy)
transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
@@ -507,7 +507,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7);
mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
@@ -752,7 +759,6 @@ int commander_thread_main(int argc, char *argv[])
hrt_abstime last_idle_time = 0;
hrt_abstime start_time = 0;
hrt_abstime last_auto_state_valid = 0;
bool status_changed = true;
bool param_init_forced = true;
@@ -862,6 +868,7 @@ int commander_thread_main(int argc, char *argv[])
bool arming_state_changed = false;
bool main_state_changed = false;
bool failsafe_old = false;
bool system_checked = false;
while (!thread_should_exit) {
@@ -915,6 +922,15 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
}
/* Perform system checks (again) once params are loaded and MAVLink is up. */
if (!system_checked && mavlink_fd &&
(telemetry.heartbeat_time > 0) &&
(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
(void)rc_calibration_check(mavlink_fd);
system_checked = true;
}
orb_check(sp_man_sub, &updated);
if (updated) {