Merge pull request #1426 from bitcraze/rik/disarming

Disarming improvements
bitcraze · Oct 21, 2024 · e0df606 · e0df606
2 parents 80ee72a + 6e1dc30
commit e0df606
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Showing 2 changed files with 17 additions and 8 deletions.
diff --git a/src/modules/src/supervisor.c b/src/modules/src/supervisor.c
@@ -263,9 +263,9 @@ static void postTransitionActions(SupervisorMem_t* this, const supervisorState_t
   if (newState == supervisorStateLanded) {
     supervisorSetLatestLandingTime(this, currentTick);
   }
-  
-  if ((previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
-    DEBUG_PRINT("Landing timeout, disarming\n");
+
+  if ((previousState == supervisorStateFlying || previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
+    DEBUG_PRINT("Disarming\n");
   }
 
   if (newState == supervisorStateLocked) {

diff --git a/src/modules/src/supervisor_state_machine.c b/src/modules/src/supervisor_state_machine.c
@@ -160,7 +160,7 @@ static SupervisorStateTransition_t transitionsFlying[] = {
     .newState = supervisorStateExceptFreeFall,
 
     .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_EMERGENCY_STOP,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
@@ -169,11 +169,20 @@ static SupervisorStateTransition_t transitionsFlying[] = {
     .newState = supervisorStateCrashed,
 
     .triggers = SUPERVISOR_CB_IS_TUMBLED,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
   },
+  {
+    .newState = supervisorStateReset,
+
+    .triggers = SUPERVISOR_CB_NONE,
+    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .triggerCombiner = supervisorAll,
+
+    .blockerCombiner = supervisorNever,
+  },
   {
     .newState = supervisorStateWarningLevelOut,
 
@@ -199,8 +208,8 @@ static SupervisorStateTransition_t transitionsLanded[] = {
     .newState = supervisorStateReset,
 
     .triggers = SUPERVISOR_CB_LANDING_TIMEOUT,
-    .negatedTriggers = SUPERVISOR_CB_NONE,
-    .triggerCombiner = supervisorAll,
+    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
   },
@@ -230,7 +239,7 @@ static SupervisorStateTransition_t transitionsWarningLevelOut[] = {
     .newState = supervisorStateExceptFreeFall,
 
     .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,