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IO safety button: Latch to disabled state 

As hardware buttons are not particularly reliable and the user flow is to disable safety then arm, then disarm via software / remote, it makes sense to make the button safety state itself sticky and require it to be reset via software.
This commit is contained in:
Lorenz Meier 2021-02-03 21:38:50 +01:00
parent 7157584fe1
commit 867b006861
1 changed files with 9 additions and 4 deletions
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13
src/modules/px4iofirmware/safety.c
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@ -104,7 +104,7 @@ safety_check_button(void *arg)
safety_button_pressed = BUTTON_SAFETY;
/*
* Keep pressed for a while to arm.
* Keep pressed for a while to disable safety.
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
@ -118,7 +118,9 @@ safety_check_button(void *arg)
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* switch to armed state */
/* switch to safety off state - the system still needs to be
* fully armed by the operator
*/
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
counter++;
}
@ -129,8 +131,11 @@ safety_check_button(void *arg)
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
atomic_modify_clear(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
/* we are not switching out of the armed state
* as a stuck button could cause this during
* normal operation. The system needs to be
* disarmed by software
*/
counter++;
}