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commander: don't allow arming during VTOL transition

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David
2019-12-17 12:21:11 -08:00
committed by Daniel Agar
parent 3d56f37606
commit 020215f146
4 changed files with 11 additions and 4 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+1 -1
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@@ -82,7 +82,7 @@ public:
const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const uint8_t arm_requirements);
const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status);
typedef enum {
ARM_REQ_NONE = 0,
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+8 -1
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@@ -38,7 +38,7 @@
#include <uORB/topics/vehicle_command_ack.h>
bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const uint8_t arm_requirements)
const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status)
{
bool prearm_ok = true;
@@ -127,6 +127,13 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
}
if (status.is_vtol && status.in_transition_mode) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state");
prearm_ok = false;
}
}
// Arm Requirements: authorization
// check last, and only if everything else has passed
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
src/modules/commander/Commander.cpp
+1 -1
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@@ -374,7 +374,7 @@ int commander_main(int argc, char *argv[])
bool preflight_check_res = Commander::preflight_check(true);
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool prearm_check_res = PreFlightCheck::preArmCheck(&mavlink_log_pub, status_flags, safety, arm_requirements);
bool prearm_check_res = PreFlightCheck::preArmCheck(&mavlink_log_pub, status_flags, safety, arm_requirements, status);
PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
return 0;
src/modules/commander/state_machine_helper.cpp
+1 -1
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@@ -178,7 +178,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
if (fRunPreArmChecks && preflight_check_ret) {
// only bother running prearm if preflight was successful
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, *status_flags, safety, arm_requirements);
prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, *status_flags, safety, arm_requirements, *status);
}
if (!preflight_check_ret || !prearm_check_ret) {