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Fixed arming state setting / publication

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This commit is contained in:
Lorenz Meier
2012-09-02 11:20:36 +02:00
parent cf62c892f9
commit e9373752d1
2 changed files with 8 additions and 13 deletions
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apps/commander/state_machine_helper.c
+1 -1
View File
@@ -121,7 +121,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* set system flags according to state */
current_status->flag_system_armed = true;
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[commander] Switched to PREFLIGHT state");
} else {
invalid_state = true;
apps/mavlink/mavlink.c
+7 -12
View File
@@ -375,70 +375,65 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
/* set arming state */
if (c_status->flag_system_armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
switch (c_status->state_machine) {
case SYSTEM_STATE_PREFLIGHT:
if (c_status->flag_preflight_gyro_calibration ||
c_status->flag_preflight_mag_calibration ||
c_status->flag_preflight_accel_calibration) {
*mavlink_state = MAV_STATE_CALIBRATING;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_state = MAV_STATE_UNINIT;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
break;
case SYSTEM_STATE_STANDBY:
*mavlink_state = MAV_STATE_STANDBY;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_GROUND_READY:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_MANUAL:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case SYSTEM_STATE_STABILIZED:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
break;
case SYSTEM_STATE_AUTO:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case SYSTEM_STATE_MISSION_ABORT:
*mavlink_state = MAV_STATE_EMERGENCY;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_EMCY_LANDING:
*mavlink_state = MAV_STATE_EMERGENCY;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_EMCY_CUTOFF:
*mavlink_state = MAV_STATE_EMERGENCY;
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_GROUND_ERROR:
*mavlink_state = MAV_STATE_EMERGENCY;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
break;
case SYSTEM_STATE_REBOOT:
*mavlink_state = MAV_STATE_POWEROFF;
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
break;
}