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GCS_MAVLink: accept mavlink standard force arm/disarm value for forced arming 

the mavlink standard specifies just one value to do either arm or disarm.  Conform to that standard
This commit is contained in:
Peter Barker 2024-07-31 11:43:33 +10:00 committed by Peter Barker
parent 6354a8b912
commit 9049aeaff6
2 changed files with 3 additions and 3 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -732,7 +732,7 @@ protected:
#endif // HAL_HIGH_LATENCY2_ENABLED
static constexpr const float magic_force_arm_value = 2989.0f;
static constexpr const float magic_force_disarm_value = 21196.0f;
static constexpr const float magic_force_arm_disarm_value = 21196.0f;
void manual_override(class RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false);

4
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4925,7 +4925,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
return MAV_RESULT_ACCEPTED;
}
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value) && !is_equal(packet.param2,magic_force_arm_disarm_value);
if (AP::arming().arm(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
@ -4935,7 +4935,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
if (!AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
const bool forced = is_equal(packet.param2, magic_force_disarm_value);
const bool forced = is_equal(packet.param2, magic_force_arm_disarm_value);
// note disarm()'s second parameter is "do_disarm_checks"
if (AP::arming().disarm(AP_Arming::Method::MAVLINK, !forced)) {
return MAV_RESULT_ACCEPTED;