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commander: safety button disarm require land detector 

- landed, maybe_landed, or ground_contact required before the safety
button is able to disarm
 - this reduces the risk of a faulty safety button triggering in regular
flight
This commit is contained in:
Daniel Agar 2020-01-20 13:48:02 -05:00 committed by Lorenz Meier
parent 4f868fc565
commit cf195b0755
1 changed files with 17 additions and 5 deletions
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18
src/modules/commander/Commander.cpp
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@ -1429,15 +1429,27 @@ Commander::run()
const bool previous_safety_off = _safety.safety_off; const bool previous_safety_off = _safety.safety_off;
if (_safety_sub.copy(&_safety)) { if (_safety_sub.copy(&_safety)) {
// disarm if safety is now on and still armed
if (armed.armed && _safety.safety_switch_available && !_safety.safety_off) {
/* disarm if safety is now on and still armed */ bool safety_disarm_allowed = (status.hil_state == vehicle_status_s::HIL_STATE_OFF);
if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF)
&& _safety.safety_switch_available && !_safety.safety_off) {
// if land detector is available then prevent disarming via safety button if not landed
if (hrt_elapsed_time(&_land_detector.timestamp) < 1_s) {
bool maybe_landing = (_land_detector.landed || _land_detector.maybe_landed);
if (!maybe_landing) {
safety_disarm_allowed = false;
}
}
if (safety_disarm_allowed) {
if (TRANSITION_CHANGED == arm_disarm(false, true, &mavlink_log_pub, "Safety button")) { if (TRANSITION_CHANGED == arm_disarm(false, true, &mavlink_log_pub, "Safety button")) {
_status_changed = true; _status_changed = true;
} }
} }
}
// Notify the user if the status of the safety switch changes // Notify the user if the status of the safety switch changes
if (_safety.safety_switch_available && previous_safety_off != _safety.safety_off) { if (_safety.safety_switch_available && previous_safety_off != _safety.safety_off) {