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commander arming state transition delete useless errors

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This commit is contained in:
Daniel Agar
2018-03-29 23:14:34 -04:00
parent 1400652724
commit 54ea78898c
1 changed files with 3 additions and 27 deletions
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30
src/modules/commander/state_machine_helper.cpp
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@@ -222,36 +222,12 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
valid_transition = true;
}
// Check if we are trying to arm, checks look good but we are in STANDBY_ERROR
if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
if (status_flags->condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
} else {
mavlink_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
}
feedback_provided = true;
} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
status_flags->condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
feedback_provided = true;
} else {
// Silent ignore
feedback_provided = true;
}
// Sensors need to be initialized for STANDBY state, except for HIL
} else if (!hil_enabled &&
if (!hil_enabled &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
// Sensors need to be initialized for STANDBY state, except for HIL
if (!status_flags->condition_system_sensors_initialized) {
feedback_provided = true;
valid_transition = false;