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pre arm check: add circuit breaker for the VTOL arming in fixed-wing mode prevention

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Added a new circuit breaker that, if set, enables arming in fixed-wing mode for VTOLs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-01-28 00:30:24 +01:00
committed by Lorenz Meier
parent f4df3fb5f2
commit 4fa64f686a
6 changed files with 22 additions and 1 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+2 -1
View File
@@ -134,7 +134,8 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
}
if (status.is_vtol && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (!status_flags.circuit_breaker_vtol_fw_arming_check && status.is_vtol
&& status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
prearm_ok = false;
src/modules/commander/Commander.cpp
+2
View File
@@ -2340,6 +2340,8 @@ Commander::get_circuit_breaker_params()
CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(),
CBRK_VELPOSERR_KEY);
status_flags.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val(_param_cbrk_vtolarming.get(),
CBRK_VTOLARMING_KEY);
}
void
src/modules/commander/Commander.hpp
+1
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@@ -243,6 +243,7 @@ private:
(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
// Geofrence
(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,