From 0c4d7350c568f89ec9639b8c75c959b3d6afd6e9 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 9 May 2022 11:36:08 -0400
Subject: [PATCH] commander: add COM_DISARM_SAFE to optionally disable disarm
 safety protections

---
 src/modules/commander/Commander.cpp      |  2 +-
 src/modules/commander/Commander.hpp      |  1 +
 src/modules/commander/commander_params.c | 10 ++++++++++
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index d3fdf38332..345d33d66b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -767,7 +767,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 
 transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced)
 {
-	if (!forced) {
+	if (!forced && _param_com_disarm_safe.get()) {
 		const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed
 				     || is_ground_rover(_vehicle_status));
 		const bool mc_manual_thrust_mode = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 221307b847..bced78ee77 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -217,6 +217,7 @@ private:
 		(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
 		(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
 		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
+		(ParamBool<px4::params::COM_DISARM_SAFE>) _param_com_disarm_safe,
 
 		(ParamBool<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 15c98f8c09..82926039cb 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -243,6 +243,16 @@ PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
  */
 PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
 
+/**
+ * Disarm safety protections
+ *
+ * Prevent disarming if flying in an altitude or position control mode and not landed.
+ *
+ * @group Commander
+ * @boolean
+ */
+PARAM_DEFINE_INT32(COM_DISARM_SAFE, 1);
+
 /**
  * Allow arming without GPS
  *