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commander: do not reboot on USB disconnect when armed

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Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
This commit is contained in:
Andrei Korigodski
2019-07-15 21:50:09 +03:00
committed by Julian Oes
parent 2e3926b577
commit 4a330c6e0a
1 changed files with 10 additions and 1 deletions
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src/modules/commander/Commander.cpp
+10 -1
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@@ -197,6 +197,8 @@ void print_reject_arm(const char *msg);
void print_status(); void print_status();
bool shutdown_if_allowed();
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const char *armedBy); transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const char *armedBy);
/** /**
@@ -521,6 +523,13 @@ void print_status()
PX4_INFO("arming: %s", arming_state_names[status.arming_state]); PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
} }
bool shutdown_if_allowed()
{
return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_REBOOT,
&armed, false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, arm_requirements,
hrt_elapsed_time(&commander_boot_timestamp));
}
transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy) transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
{ {
transition_result_t arming_res = TRANSITION_NOT_CHANGED; transition_result_t arming_res = TRANSITION_NOT_CHANGED;
@@ -1511,7 +1520,7 @@ Commander::run()
} }
/* if the USB hardware connection went away, reboot */ /* if the USB hardware connection went away, reboot */
if (status_flags.usb_connected && !system_power.usb_connected) { if (status_flags.usb_connected && !system_power.usb_connected && shutdown_if_allowed()) {
/* /*
* apparently the USB cable went away but we are still powered, * apparently the USB cable went away but we are still powered,
* so lets reset to a classic non-usb state. * so lets reset to a classic non-usb state.