forked from Archive/PX4-Autopilot
Commander: Add COM_ARM_AUTH_REQ for enabling Arm Authorization
Signed-off-by: Claudio Micheli <claudio@auterion.com>
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@ -1268,6 +1268,7 @@ Commander::run()
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param_t _param_arm_switch_is_button = param_find("COM_ARM_SWISBTN");
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param_t _param_rc_override = param_find("COM_RC_OVERRIDE");
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param_t _param_arm_mission_required = param_find("COM_ARM_MIS_REQ");
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param_t _param_arm_auth_required = param_find("COM_ARM_AUTH_REQ");
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param_t _param_escs_checks_required = param_find("COM_ARM_CHK_ESCS");
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param_t _param_flight_uuid = param_find("COM_FLIGHT_UUID");
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param_t _param_takeoff_finished_action = param_find("COM_TAKEOFF_ACT");
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@ -1395,8 +1396,13 @@ Commander::run()
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int32_t arm_mission_required_param = 0;
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param_get(_param_arm_mission_required, &arm_mission_required_param);
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arm_requirements |= (arm_mission_required_param &
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(PreFlightCheck::ARM_REQ_MISSION_BIT | PreFlightCheck::ARM_REQ_ARM_AUTH_BIT));
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arm_requirements |= (arm_mission_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
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PreFlightCheck::ARM_REQ_MISSION_BIT;
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int32_t arm_auth_required_param = 0;
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param_get(_param_arm_auth_required, &arm_auth_required_param);
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arm_requirements |= (arm_auth_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
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PreFlightCheck::ARM_REQ_ARM_AUTH_BIT;
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int32_t arm_escs_checks_required_param = 0;
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param_get(_param_escs_checks_required, &arm_escs_checks_required_param);
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@ -1530,9 +1536,15 @@ Commander::run()
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param_get(_param_arm_without_gps, &arm_without_gps_param);
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arm_requirements = (arm_without_gps_param == 1) ? PreFlightCheck::ARM_REQ_NONE : PreFlightCheck::ARM_REQ_GPS_BIT;
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param_get(_param_arm_mission_required, &arm_mission_required_param);
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arm_requirements |= (arm_mission_required_param &
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(PreFlightCheck::ARM_REQ_MISSION_BIT | PreFlightCheck::ARM_REQ_ARM_AUTH_BIT));
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arm_requirements |= (arm_mission_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
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PreFlightCheck::ARM_REQ_MISSION_BIT;
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param_get(_param_arm_auth_required, &arm_auth_required_param);
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arm_requirements |= (arm_auth_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
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PreFlightCheck::ARM_REQ_ARM_AUTH_BIT;
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param_get(_param_escs_checks_required, &arm_escs_checks_required_param);
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arm_requirements |= (arm_escs_checks_required_param == 0) ? PreFlightCheck::ARM_REQ_NONE :
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PreFlightCheck::ARM_REQ_ESCS_CHECK_BIT;
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@ -678,6 +678,16 @@ PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
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*/
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PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
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/**
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* Require arm authorization to arm
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*
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* The default allows to arm the vehicle without a arm authorization.
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*
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* @group Commander
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* @boolean
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*/
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PARAM_DEFINE_INT32(COM_ARM_AUTH_REQ, 0);
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/**
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* Loss of position failsafe activation delay.
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*
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@ -987,4 +997,4 @@ PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
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* @max 30.0
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* @increment 0.1
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*/
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PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
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PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
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