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Commander: allow disarmin not-landed boat like rover 

This is a hotfix and a boat should never even detect a takeoff
in normal operation.
This commit is contained in:
Matthias Grob 2022-10-05 09:09:37 +02:00 committed by Daniel Agar
parent dafead6f20
commit 46e6e83e14
3 changed files with 13 additions and 1 deletions
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2
src/modules/commander/Commander.cpp
View File

@ -685,7 +685,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
{
if (!forced) {
const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed
|| is_ground_rover(_vehicle_status));
|| is_ground_vehicle(_vehicle_status));
const bool mc_manual_thrust_mode = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_climb_rate_enabled;

10
src/modules/commander/commander_helper.cpp
View File

@ -123,6 +123,16 @@ bool is_ground_rover(const vehicle_status_s &current_status)
return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER;
}
bool is_boat(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_BOAT;
}
bool is_ground_vehicle(const vehicle_status_s &current_status)
{
return is_ground_rover(current_status) || is_boat(current_status);
}
// End time for currently blinking LED message, 0 if no blink message
static hrt_abstime blink_msg_end = 0;
static int fd_leds{-1};

2
src/modules/commander/commander_helper.h
View File

@ -56,6 +56,8 @@ bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_rover(const vehicle_status_s &current_status);
bool is_boat(const vehicle_status_s &current_status);
bool is_ground_vehicle(const vehicle_status_s &current_status);
int buzzer_init(void);
void buzzer_deinit(void);