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commander: make auto disarm timeout float 

such that fractions of a second are configurable
This commit is contained in:
Matthias Grob 2018-08-21 18:24:38 +02:00 committed by Beat Küng
parent 658b957888
commit 0c6bffb66a
7 changed files with 19 additions and 21 deletions
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2
ROMFS/px4fmu_common/init.d-posix/rcS
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@ -108,7 +108,7 @@ then
param set SENS_DPRES_OFF 0.001
param set CBRK_AIRSPD_CHK 0
param set COM_DISARM_LAND 3
param set COM_DISARM_LAND 0.1
param set COM_OBL_ACT 2
param set COM_OBL_RC_ACT 0
param set COM_OF_LOSS_T 5

2
ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil
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@ -14,7 +14,7 @@ if [ $AUTOCNF == yes ]
then
param set BAT_N_CELLS 3
param set COM_DISARM_LAND 5
param set COM_DISARM_LAND 5.0
param set COM_RC_IN_MODE 1
param set EKF2_AID_MASK 1

2
ROMFS/px4fmu_common/init.d/13013_deltaquad
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@ -25,7 +25,7 @@ then
param set BAT_N_CELLS 4
param set BAT_R_INTERNAL 0.0025
param set COM_DISARM_LAND 5
param set COM_DISARM_LAND 5.0
param set VT_TYPE 2
param set VT_MOT_COUNT 4

2
ROMFS/px4fmu_common/init.d/4030_3dr_solo
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@ -32,7 +32,7 @@ then
# takeoff, land and RTL settings
param set MIS_TAKEOFF_ALT 4.0
param set COM_DISARM_LAND 1
param set COM_DISARM_LAND 1.0
param set RTL_LAND_DELAY 1
param set RTL_DESCEND_ALT 5.0
param set RTL_RETURN_ALT 15.0

2
ROMFS/px4fmu_common/init.d/4070_aerofc
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@ -23,7 +23,7 @@ if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set COM_DISARM_LAND 3
param set COM_DISARM_LAND 3.0
param set LNDMC_Z_VEL_MAX 2.0000

19
src/modules/commander/Commander.cpp
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@ -1383,7 +1383,7 @@ Commander::run()
float ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
int32_t disarm_when_landed = 0;
float disarm_when_landed_timeout = 0.f;
/* check which state machines for changes, clear "changed" flag */
bool main_state_changed = false;
@ -1481,7 +1481,7 @@ Commander::run()
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
param_get(_param_geofence_action, &geofence_action);
param_get(_param_disarm_land, &disarm_when_landed);
param_get(_param_disarm_land, &disarm_when_landed_timeout);
param_get(_param_flight_uuid, &flight_uuid);
// If we update parameters the first time
@ -1489,7 +1489,7 @@ Commander::run()
// After that it will be set in the main state
// machine based on the arming state.
if (param_init_forced) {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed * 1_s);
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
}
param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
@ -1719,17 +1719,16 @@ Commander::run()
was_falling = land_detector.freefall;
}
/* Update hysteresis time. Use a time of factor 5 longer if we have not taken off yet. */
hrt_abstime timeout_time = disarm_when_landed * 1_s;
// Auto disarm when landed
if (!have_taken_off_since_arming) {
timeout_time *= 5;
// pilot has ten seconds time to take off
auto_disarm_hysteresis.set_hysteresis_time_from(false, 10_s);
} else {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
}
auto_disarm_hysteresis.set_hysteresis_time_from(false, timeout_time);
// Check for auto-disarm
if (armed.armed && land_detector.landed && disarm_when_landed > 0) {
if (armed.armed && land_detector.landed && disarm_when_landed_timeout > FLT_EPSILON) {
auto_disarm_hysteresis.set_state_and_update(true);
} else {

11
src/modules/commander/commander_params.c
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@ -278,18 +278,17 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
* automatically disarmed in case a landing situation has been detected during this period.
*
* The vehicle will also auto-disarm right after arming if it has not even flown, however the time
* will be longer by a factor of 5.
* will always be 10 seconds such that the pilot has enough time to take off.
*
* A value of zero means that automatic disarming is disabled.
* A negative value means that automatic disarming triggered by landing detection is disabled.
*
* @group Commander
* @min 0
* @min -1
* @max 20
* @unit s
* @decimal 0
* @increment 1
* @decimal 2
*/
PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, -1.0f);
/**
* Allow arming without GPS