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commander arming: disable stick (dis-)arming when arming switch/button is used

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A reason for using switch arming in the first place is that you cannot
accidentally disarm in-air with the sticks during acrobatic flights.

It also adds a low-throttle arming requirement for switch arming.
This commit is contained in:
Beat Küng 2018-06-09 11:58:09 +02:00
parent db2b010630
commit 02fc68a53e
2 changed files with 15 additions and 6 deletions
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16
src/modules/commander/commander.cpp
View File

@ -2237,14 +2237,17 @@ Commander::run()
status.rc_signal_lost = false;
const bool in_armed_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
const bool arm_switch_or_button_mapped = sp_man.arm_switch != manual_control_setpoint_s::SWITCH_POS_NONE;
const bool arm_button_pressed = arm_switch_is_button == 1
&& sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON;
/* DISARM
* check if left stick is in lower left position or arm button is pushed or arm switch has transition from arm to disarm
* and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed)
* do it only for rotary wings in manual mode or fixed wing if landed */
const bool stick_in_lower_left = sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f;
* do it only for rotary wings in manual mode or fixed wing if landed.
* Disable stick-disarming if arming switch or button is mapped */
const bool stick_in_lower_left = sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f
&& !arm_switch_or_button_mapped;
const bool arm_switch_to_disarm_transition = arm_switch_is_button == 0 &&
_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF;
@ -2276,14 +2279,17 @@ Commander::run()
/* ARM
* check if left stick is in lower right position or arm button is pushed or arm switch has transition from disarm to arm
* and we're in MANUAL mode */
const bool stick_in_lower_right = (sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f);
* and we're in MANUAL mode.
* Disable stick-arming if arming switch or button is mapped */
const bool stick_in_lower_right = sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f
&& !arm_switch_or_button_mapped;
/* allow a grace period for re-arming: preflight checks don't need to pass during that time,
* for example for accidential in-air disarming */
const bool in_arming_grace_period = last_disarmed_timestamp != 0 && hrt_elapsed_time(&last_disarmed_timestamp) < 5_s;
const bool arm_switch_to_arm_transition = arm_switch_is_button == 0 &&
_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON;
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON &&
(sp_man.z < 0.1f || in_arming_grace_period);
if (!in_armed_state &&
status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&

5
src/modules/sensors/rc_params.c
View File

@ -1556,7 +1556,10 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
/**
* Arm switch channel
* Arm switch channel.
*
* Use it to arm/disarm via switch instead of default throttle stick. If this is
* assigned, arming and disarming via stick is disabled.
*
* @min 0
* @max 18