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GCS_MAVLink: add do_disarm_checks boolean to disarm call

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this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
This commit is contained in:
Peter Barker 2021-01-06 11:15:48 +11:00 committed by Randy Mackay
parent b229c552e6
commit 3d577d94e8
2 changed files with 3 additions and 9 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -511,8 +511,6 @@ protected:
static constexpr const float magic_force_arm_value = 2989.0f;
static constexpr const float magic_force_disarm_value = 21196.0f;
virtual bool allow_disarm() const { return true; }
void manual_override(RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false);
/*

10
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3864,13 +3864,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
if (!AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
// allow vehicle to disallow disarm. Copter does this if
// the vehicle isn't considered landed.
if (!allow_disarm() &&
!is_equal(packet.param2, magic_force_disarm_value)) {
return MAV_RESULT_FAILED;
}
if (AP::arming().disarm(AP_Arming::Method::MAVLINK)) {
const bool forced = is_equal(packet.param2, magic_force_disarm_value);
// note disarm()'s second parameter is "do_disarm_checks"
if (AP::arming().disarm(AP_Arming::Method::MAVLINK, !forced)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;