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Merge branch 'master' of github.com:PX4/Firmware into battload

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Lorenz Meier
2014-07-20 16:21:59 +02:00
parent 5d2489880c 2685e3cfa4
commit e21cb64553
16 changed files with 295 additions and 50 deletions
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29
src/modules/commander/commander.cpp
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@@ -546,24 +546,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
#if 0
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe");
} else {
/* reject parachute depoyment not armed */
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
armed_local->force_failsafe = false;
warnx("disabling failsafe");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
#endif
case VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;
@@ -1421,8 +1416,12 @@ int commander_thread_main(int argc, char *argv[])
arming_state_changed = true;
} else if (arming_ret == TRANSITION_DENIED) {
/* DENIED here indicates bug in the commander */
mavlink_log_critical(mavlink_fd, "arming state transition denied");
/*
* the arming transition can be denied to a number of reasons:
* - pre-flight check failed (sensors not ok or not calibrated)
* - safety not disabled
* - system not in manual mode
*/
tune_negative(true);
}