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commander allow disarm command with throttle

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This commit is contained in:
Daniel Agar
2016-10-30 17:10:52 -04:00
committed by Lorenz Meier
parent 27a50275b6
commit 2908f1c16d
1 changed files with 9 additions and 5 deletions
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src/modules/commander/commander.cpp
+9 -5
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@@ -633,6 +633,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
// For HIL platforms, require that simulated sensors are connected
if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
return TRANSITION_DENIED;
}
@@ -651,7 +652,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
can_arm_without_gps);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_log_pub_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
mavlink_log_info(mavlink_log_pub_local, "%s by %s", arm ? "ARMED" : "DISARMED", armedBy);
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
@@ -848,16 +849,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
// Refuse to arm if in manual with non-zero throttle
if ((status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO) && sp_man.z > 0.1f) {
if (cmd_arms
&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO)
&& (sp_man.z > 0.1f)) {
mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero.");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
}
transition_result_t arming_res = arm_disarm(cmd_arms,&mavlink_log_pub, "arm/disarm component command");
transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(&mavlink_log_pub, "REJECTING component arm cmd");