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HealthAndArmingChecks: disallow arming via parameter

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COM_ARMABLE is set to "Disabled" will prevent arming.
 This allows to set the parameter when ground demoing a drone or
 if it's in maintenance for safety reasons.
This commit is contained in:
Matthias Grob 2023-06-20 12:14:09 +02:00
parent 173407581b
commit 20d0661e87
5 changed files with 121 additions and 0 deletions
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1
src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
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@ -37,6 +37,7 @@ px4_add_library(health_and_arming_checks
checks/accelerometerCheck.cpp
checks/airspeedCheck.cpp
checks/armPermissionCheck.cpp
checks/baroCheck.cpp
checks/batteryCheck.cpp
checks/cpuResourceCheck.cpp

3
src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
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@ -42,6 +42,7 @@
#include "checks/accelerometerCheck.hpp"
#include "checks/airspeedCheck.hpp"
#include "checks/armPermissionCheck.hpp"
#include "checks/baroCheck.hpp"
#include "checks/cpuResourceCheck.hpp"
#include "checks/distanceSensorChecks.hpp"
@ -115,6 +116,7 @@ private:
// all checks
AccelerometerChecks _accelerometer_checks;
AirspeedChecks _airspeed_checks;
ArmPermissionChecks _arm_permission_checks;
BaroChecks _baro_checks;
CpuResourceChecks _cpu_resource_checks;
DistanceSensorChecks _distance_sensor_checks;
@ -145,6 +147,7 @@ private:
HealthAndArmingCheckBase *_checks[31] = {
&_accelerometer_checks,
&_airspeed_checks,
&_arm_permission_checks,
&_baro_checks,
&_cpu_resource_checks,
&_distance_sensor_checks,

55
src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp Normal file
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@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "armPermissionCheck.hpp"
void ArmPermissionChecks::checkAndReport(const Context &context, Report &reporter)
{
if (_param_com_armable.get() < 1) {
/* EVENT
* @description
* Vehicle is in safety configuration and denies arming.
*
* <profile name="dev">
* This check can be configured via <param>COM_ARMABLE</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
events::ID("check_armable_configuration"),
events::Log::Error, "Vehicle is in safety configuration");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle is in safety configuration");
}
}
}

50
src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.hpp Normal file
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@ -0,0 +1,50 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../Common.hpp"
class ArmPermissionChecks : public HealthAndArmingCheckBase
{
public:
ArmPermissionChecks() = default;
~ArmPermissionChecks() = default;
void checkAndReport(const Context &context, Report &reporter) override;
private:
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::COM_ARMABLE>) _param_com_armable
)
};

12
src/modules/commander/commander_params.c
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@ -1104,3 +1104,15 @@ PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f);
* @unit m
*/
PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f);
/**
* Flag to allow arming
*
* Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.
*
* @boolean
* @value 0 Disallow arming
* @value 1 Allow arming
* @group Commander
*/
PARAM_DEFINE_INT32(COM_ARMABLE, 1);