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commander: Go only into armed error state if on low battery and disarmed

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Lorenz Meier
2015-04-04 10:18:40 +02:00
parent 64cdcfc0cc
commit 26ccac347d
1 changed files with 4 additions and 11 deletions
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src/modules/commander/commander.cpp
+4 -11
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@@ -1553,17 +1553,10 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
} else {
arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */,
mavlink_fd);
if (!armed.armed) {
arming_ret = arming_state_transition(&status, &safety,
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
&armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;