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Fix conditions for proper state synchronization #118

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Fix conditions for proper state synchronization #118

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8 changes: 5 additions & 3 deletions app/src/main/java/org/WenuLink/adapters/aircraft/AircraftState.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -247,7 +247,8 @@ class AircraftStateMachine {
val fcState = state.resolveFrom(isArmed, isFlying)
when {
// RC trigger arm while on ground: advance to armed
fcState.isArmed() && state.isOnTheGround() -> dispatch(ArmTransition)
fcState.isArmed() && !state.isArmed() && state.isOnTheGround() ->
dispatch(ArmTransition)

// Armed and on ground: advance to takeoff
fcState.isArmed() && fcState.isFlying() && state.isOnTheGround() ->
Expand All @@ -258,12 +259,13 @@ class AircraftStateMachine {
dispatch(FlyingTransition)

// Disarmed and grounded: return to standby
!fcState.isArmed() && !fcState.isFlying() && !state.armRequested ->
fcState.isStandBy() && !state.isStandBy() && !state.armRequested ->
dispatch(StandbyTransition)

// Catch unsuccessful arm
!fcState.isArmed() && state.armRequested -> {
if ((state.armTimestamp - System.currentTimeMillis()) > 10_000) {
if ((System.currentTimeMillis() - state.armTimestamp) > 10_000) {
logger.w { "Unable to arm! Moving to Standby state" }
dispatch(StandbyTransition)
}
}
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