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Allowed mode switching via command

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This commit is contained in:
Lorenz Meier
2012-12-01 16:28:53 +01:00
parent fd14084768
commit aa1d57c085
1 changed files with 22 additions and 13 deletions
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apps/commander/state_machine_helper.c
+22 -13
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@@ -565,6 +565,28 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
{
printf("[commander] Requested new mode: %d\n", (int)mode);
uint8_t ret = 1;
/* Switch on HIL if in standby and not already in HIL mode */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
&& !current_status->flag_hil_enabled) {
/* Enable HIL on request */
current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING HIL, not in standby.")
}
/* switch manual / auto */
if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
}
/* vehicle is disarmed, mode requests arming */
if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
@@ -587,19 +609,6 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
}
}
/* Switch on HIL if in standby and not already in HIL mode */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
&& !current_status->flag_hil_enabled) {
/* Enable HIL on request */
current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
mavlink_log_critical(mavlink_fd, "[commander] REJECTING HIL, not in standby.")
}
/* NEVER actually switch off HIL without reboot */
if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n");