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commander: prevent potential disarms in-air

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This fixes the terrifying case where the drone disarms in-air just
because it receives a MAVLink disarm command. We now check param2 for a
magic number which enforces arming/disarming.

This is added to the mavlink protocol in:
https://github.com/mavlink/mavlink/pull/1162
This commit is contained in:
Julian Oes
2019-07-25 16:49:25 +02:00
parent 71613ac631
commit 308d91e5ff
1 changed files with 15 additions and 0 deletions
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src/modules/commander/Commander.cpp
+15
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@@ -765,6 +765,21 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
bool cmd_arms = (static_cast<int>(cmd.param1 + 0.5f) == 1);
// Arm/disarm is enforced only when param2 is set to a magic number.
const bool enforce_in_air = (static_cast<int>(std::round(cmd.param2)) == 21196);
if (!enforce_in_air && !land_detector.landed) {
if (cmd_arms) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
} else {
mavlink_log_critical(&mavlink_log_pub, "Disarming denied! Not landed");
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
// Flick to inair restore first if this comes from an onboard system
if (cmd.source_system == status_local->system_id && cmd.source_component == status_local->component_id) {
status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;