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Calibration state machine fixes, generates less bogus error messages during calibration

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Lorenz Meier
2015-05-21 17:25:37 +02:00
parent fb4dc27bc9
commit 9179fcefc9
3 changed files with 22 additions and 15 deletions
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26
src/modules/commander/state_machine_helper.cpp
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@@ -216,17 +216,6 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
valid_transition = true;
}
// Sensors need to be initialized for STANDBY state, except for HIL
if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
feedback_provided = true;
valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// 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) {
@@ -244,8 +233,21 @@ arming_state_transition(struct vehicle_status_s *status, ///< current vehicle s
mavlink_and_console_log_critical(mavlink_fd, "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 ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status->condition_system_sensors_initialized)) {
if (!fRunPreArmChecks) {
mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
}
feedback_provided = true;
valid_transition = false;
status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
}
// Finish up the state transition