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Fix (dis)arm reason enumeration (#25766)

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This commit is contained in:
Matthias Grob
2025-10-20 15:12:36 +02:00
committed by GitHub
parent 056289892c
commit 65c5bd6906
3 changed files with 40 additions and 68 deletions
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src/modules/commander/Commander.cpp
+30 -34
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@@ -511,10 +511,30 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
{
switch (calling_reason) {
case arm_disarm_reason_t::transition_to_standby: return "";
static_assert((uint8_t)arm_disarm_reason_t::stick_gesture == vehicle_status_s::ARM_DISARM_REASON_STICK_GESTURE,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::rc_switch == vehicle_status_s::ARM_DISARM_REASON_RC_SWITCH,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::command_internal == vehicle_status_s::ARM_DISARM_REASON_COMMAND_INTERNAL,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::command_external == vehicle_status_s::ARM_DISARM_REASON_COMMAND_EXTERNAL,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::mission_start == vehicle_status_s::ARM_DISARM_REASON_MISSION_START,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::landing == vehicle_status_s::ARM_DISARM_REASON_LANDING,
"(dis)arm enum mismatch");
static_assert(
(uint8_t)arm_disarm_reason_t::preflight_inaction == vehicle_status_s::ARM_DISARM_REASON_PREFLIGHT_INACTION,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::kill_switch == vehicle_status_s::ARM_DISARM_REASON_KILL_SWITCH,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::rc_button == vehicle_status_s::ARM_DISARM_REASON_RC_BUTTON,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::failsafe == vehicle_status_s::ARM_DISARM_REASON_FAILSAFE,
"(dis)arm enum mismatch");
case arm_disarm_reason_t::stick_gesture: return "Stick gesture";
switch (calling_reason) {
case arm_disarm_reason_t::stick_gesture: return "stick gesture";
case arm_disarm_reason_t::rc_switch: return "RC switch";
@@ -524,21 +544,13 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r
case arm_disarm_reason_t::mission_start: return "mission start";
case arm_disarm_reason_t::auto_disarm_land: return "landing";
case arm_disarm_reason_t::landing: return "landing";
case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
case arm_disarm_reason_t::preflight_inaction: return "auto preflight disarming";
case arm_disarm_reason_t::kill_switch: return "kill-switch";
case arm_disarm_reason_t::lockdown: return "lockdown";
case arm_disarm_reason_t::failure_detector: return "failure detector";
case arm_disarm_reason_t::shutdown: return "shutdown request";
case arm_disarm_reason_t::unit_test: return "unit tests";
case arm_disarm_reason_t::rc_button: return "RC (button)";
case arm_disarm_reason_t::rc_button: return "RC button";
case arm_disarm_reason_t::failsafe: return "failsafe";
}
@@ -2299,35 +2311,19 @@ void Commander::handleAutoDisarm()
if (_auto_disarm_landed.get_state() && !_multicopter_throw_launch.isThrowLaunchInProgress()) {
if (_have_taken_off_since_arming) {
disarm(arm_disarm_reason_t::auto_disarm_land);
disarm(arm_disarm_reason_t::landing);
} else {
disarm(arm_disarm_reason_t::auto_disarm_preflight);
disarm(arm_disarm_reason_t::preflight_inaction);
}
}
}
// Auto disarm after 5 seconds if kill switch is engaged
bool auto_disarm = _actuator_armed.kill;
// auto disarm if locked down to avoid user confusion
// skipped in HITL where lockdown is enabled for safety
if (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) {
auto_disarm |= _actuator_armed.lockdown;
}
//don't disarm if throw launch is in progress
auto_disarm &= !_multicopter_throw_launch.isThrowLaunchInProgress();
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
_auto_disarm_killed.set_state_and_update(_actuator_armed.kill, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
if (_actuator_armed.kill) {
disarm(arm_disarm_reason_t::kill_switch, true);
} else {
disarm(arm_disarm_reason_t::lockdown, true);
}
disarm(arm_disarm_reason_t::kill_switch, true);
}
} else {