Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 14:47:44 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

commander: remove unused HITL transition function

Browse Source 
To my knowledge this hil transition function is not used anymore,
however, it makes sending the DO_SET_MODE command unnecessarily complex.
In my opinion the DO_SET_MODE command should only change the mode but
not other things like arming (already removed) and HITL state (this
commit).

Often times, I was seeing the error message "Set SYS_HITL to 1 and
reboot to enable HITL." when using QGC with a vehicle in HITL.

HITL is set via parameter which then has an impact in the startup script
where the CLI argument `-hil` is added to some of the commands that
require it (like commander as well).
This commit is contained in:
Julian Oes
2018-08-29 18:24:19 -07:00
committed by Beat Küng
parent f3e576b6f4
commit d370a7c2b5
3 changed files with 1 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+1 -5
View File
@@ -593,10 +593,6 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
transition_result_t main_ret = TRANSITION_NOT_CHANGED;
/* set HIL state */
hil_state_t new_hil_state = (base_mode & VEHICLE_MODE_FLAG_HIL_ENABLED) ? vehicle_status_s::HIL_STATE_ON : vehicle_status_s::HIL_STATE_OFF;
transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, &mavlink_log_pub);
// We ignore base_mode & VEHICLE_MODE_FLAG_SAFETY_ARMED because
// the command VEHICLE_CMD_COMPONENT_ARM_DISARM should be used
// instead according to the latest mavlink spec.
@@ -704,7 +700,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
}
}
if ((hil_ret != TRANSITION_DENIED) && (arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
if ((arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
src/modules/commander/state_machine_helper.cpp
-59
View File
@@ -368,65 +368,6 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
return ret;
}
/**
* Transition from one hil state to another
*/
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub,
vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub)
{
transition_result_t ret = TRANSITION_DENIED;
if (current_status->hil_state == new_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
switch (new_state) {
case vehicle_status_s::HIL_STATE_OFF:
/* The system is in HITL mode and unexpected things can happen if we disable HITL without rebooting. */
mavlink_log_critical(mavlink_log_pub, "Set SYS_HITL to 0 and reboot to disable HITL.");
ret = TRANSITION_DENIED;
break;
case vehicle_status_s::HIL_STATE_ON:
if (current_status->arming_state == vehicle_status_s::ARMING_STATE_INIT
|| current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY
|| current_status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
ret = TRANSITION_CHANGED;
int32_t hitl_on = 0;
param_get(param_find("SYS_HITL"), &hitl_on);
if (hitl_on) {
mavlink_log_info(mavlink_log_pub, "Enabled Hardware-in-the-loop simulation (HITL).");
} else {
mavlink_log_critical(mavlink_log_pub, "Set SYS_HITL to 1 and reboot to enable HITL.");
ret = TRANSITION_DENIED;
}
} else {
mavlink_log_critical(mavlink_log_pub, "Not switching to HITL when armed.");
ret = TRANSITION_DENIED;
}
break;
default:
PX4_WARN("Unknown HITL state");
break;
}
}
if (ret == TRANSITION_CHANGED) {
current_status->hil_state = new_state;
current_status->timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
}
return ret;
}
/**
* Enable failsafe and report to user
*/
src/modules/commander/state_machine_helper.h
-3
View File
@@ -88,9 +88,6 @@ transition_result_t
main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
const vehicle_status_flags_s &status_flags, commander_state_s *internal_state);
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub,
vehicle_status_s *current_status, orb_advert_t *mavlink_log_pub);
void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason);
bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,