dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FMU safety button: cleanup disabling safety

This commit is contained in:
Matthias Grob 2021-02-04 05:04:29 +01:00 committed by Lorenz Meier
parent 867b006861
commit 3fbd008c4e
1 changed files with 7 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/drivers/safety_button/SafetyButton.cpp
View File

@ -71,34 +71,20 @@ SafetyButton::CheckButton()
{
const bool safety_button_pressed = px4_arch_gpioread(GPIO_BTN_SAFETY);
/*
* Keep pressed for a while to arm.
/* Keep safety button pressed for one second to turn off safety
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
* Note that safety cannot be turned on again by button because a button
* hardware problem could accidentally disable it in flight.
*/
if (safety_button_pressed && !_safety_btn_off) {
if (_button_counter < CYCLE_COUNT) {
_button_counter++;
} else if (_button_counter == CYCLE_COUNT) {
// switch safety off and to ok-to-arm state
_safety_btn_off = true;
if (_button_counter <= CYCLE_COUNT) {
_button_counter++;
}
} else if (safety_button_pressed && _safety_btn_off) {
if (_button_counter < CYCLE_COUNT) {
_button_counter++;
} else if (_button_counter == CYCLE_COUNT) {
// do not switch safety off,
// as a button that is stuck in hardware
// could cause this
_button_counter++;
if (_button_counter == CYCLE_COUNT) {
// switch safety off -> ready to arm state
_safety_btn_off = true;
}
} else {