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Merged commander fixes into airspeed_test_fix

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This commit is contained in:
Lorenz Meier
2014-07-13 12:46:49 +02:00
parent 8590d555b4 a32577377b
commit 91651bf240
17 changed files with 192 additions and 212 deletions
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26
src/modules/commander/state_machine_helper.cpp
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@@ -88,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
};
// You can index into the array with an arming_state_t in order to get it's textual representation
static const char *state_names[ARMING_STATE_MAX] = {
static const char * const state_names[ARMING_STATE_MAX] = {
"ARMING_STATE_INIT",
"ARMING_STATE_STANDBY",
"ARMING_STATE_ARMED",
@@ -161,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
valid_transition = false;
}
@@ -172,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current
// Fail transition if power is not good
if (!status->condition_power_input_valid) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
valid_transition = false;
}
// Fail transition if power levels on the avionics rail
// are measured but are insufficient
if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f)) {
if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
(status->avionics_power_rail_voltage < 4.9f))) {
mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
valid_transition = false;
}
}
@@ -626,7 +626,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
failed = true;
goto system_eval;
}
@@ -634,7 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
ret = ioctl(fd, ACCELIOCSELFTEST, 0);
if (ret != OK) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
failed = true;
goto system_eval;
}
@@ -648,14 +648,14 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
mavlink_log_critical(mavlink_fd, "hold still while arming");
/* this is frickin' fatal */
failed = true;
goto system_eval;
}
} else {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
/* this is frickin' fatal */
failed = true;
goto system_eval;
@@ -670,13 +670,13 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
if (ret = orb_copy(ORB_ID(airspeed), fd, &airspeed) ||
hrt_elapsed_time(&airspeed.timestamp) > 50 * 1000) {
mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
failed = true;
goto system_eval;
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "#audio: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
// XXX do not make this fatal yet
}
}