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commander: add parameter COM_REARM_GRACE to optionally disable re-arming grace period

This commit is contained in:
Nicolas MARTIN 2020-10-01 17:20:08 +02:00 committed by GitHub
parent c1936dab1f
commit 967f741a0e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 15 additions and 4 deletions
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8
src/modules/commander/Commander.cpp
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@ -2017,13 +2017,13 @@ Commander::run()
&& !arm_switch_or_button_mapped; && !arm_switch_or_button_mapped;
/* allow a grace period for re-arming: preflight checks don't need to pass during that time, /* allow a grace period for re-arming: preflight checks don't need to pass during that time,
* for example for accidential in-air disarming */ * for example for accidential in-air disarming */
const bool in_arming_grace_period = (_last_disarmed_timestamp != 0) const bool in_rearming_grace_period = _param_com_rearm_grace.get() && (_last_disarmed_timestamp != 0)
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s); && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s);
const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get() && const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get() &&
(_last_manual_control_setpoint_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) && (_last_manual_control_setpoint_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) &&
(_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) && (_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
(_manual_control_setpoint.z < 0.1f || in_arming_grace_period); (_manual_control_setpoint.z < 0.1f || in_rearming_grace_period);
if (!in_armed_state && if (!in_armed_state &&
(status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) && (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) &&
@ -2051,7 +2051,7 @@ Commander::run()
} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { } else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
arming_ret = arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_ARMED, &armed, arming_ret = arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_ARMED, &armed,
!in_arming_grace_period /* fRunPreArmChecks */, !in_rearming_grace_period /* fRunPreArmChecks */,
&mavlink_log_pub, &status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp), &mavlink_log_pub, &status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
(arm_switch_to_arm_transition ? arm_disarm_reason_t::RC_SWITCH : arm_disarm_reason_t::RC_STICK)); (arm_switch_to_arm_transition ? arm_disarm_reason_t::RC_SWITCH : arm_disarm_reason_t::RC_STICK));

1
src/modules/commander/Commander.hpp
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@ -225,6 +225,7 @@ private:
(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required, (ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required, (ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required, (ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid, (ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action, (ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,

10
src/modules/commander/commander_params.c
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@ -614,6 +614,16 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 45);
*/ */
PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 1); PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 1);
/**
* Rearming grace period
*
* Re-arming grace allows to rearm the drone with manual command without running prearmcheck during 5 s after disarming.
*
* @group Commander
* @boolean
*/
PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
/** /**
* Enable RC stick override of auto and/or offboard modes * Enable RC stick override of auto and/or offboard modes
* *