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fix(commander): arm throttle check for all vehicle types (#26683)

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Extend the arm throttle safety check to all vehicle types including
rovers, which were previously excluded. Unify the two separate throttle
checks into a single evaluation at arm-time that accounts for vehicle
type and control mode: rovers require centered stick, climb-rate modes
require stick at or below center, and manual/stab/acro modes require
stick at bottom.
This commit is contained in:
Jacob Dahl 2026-03-19 11:24:37 -08:00 committed by GitHub
parent 2f8ca0ec96
commit 75a51c19c7
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GPG Key ID: B5690EEEBB952194
2 changed files with 22 additions and 22 deletions
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41
src/modules/commander/Commander.cpp
View File

@ -608,27 +608,29 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if (run_preflight_checks) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_failsafe_flags.manual_control_signal_lost && _is_throttle_above_center) {
if (!_failsafe_flags.manual_control_signal_lost) {
bool throttle_safe;
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t");
events::send(events::ID("commander_arm_denied_throttle_center"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: throttle above center");
tune_negative(true);
return TRANSITION_DENIED;
}
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
// Rovers: center stick = stop, safe to arm near center
throttle_safe = (fabsf(_last_manual_throttle) < 0.2f);
if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_failsafe_flags.manual_control_signal_lost && !_is_throttle_low
&& ((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING))
) {
} else if (_vehicle_control_mode.flag_control_climb_rate_enabled) {
// Climb-rate modes (AltCtl, PosCtl, etc.): center = hover, safe at or below center
throttle_safe = (_last_manual_throttle <= 0.2f);
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: high throttle");
tune_negative(true);
return TRANSITION_DENIED;
} else {
// Manual/Stab/Acro on MC/FW: bottom = no thrust, safe at bottom
throttle_safe = (_last_manual_throttle < -0.8f);
}
if (!throttle_safe) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle not in safe position\t");
events::send(events::ID("commander_arm_denied_throttle_unsafe"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: throttle not in safe position");
tune_negative(true);
return TRANSITION_DENIED;
}
}
} else if (calling_reason == arm_disarm_reason_t::stick_gesture
@ -3001,8 +3003,7 @@ void Commander::manualControlCheck()
if (manual_control_updated && manual_control_setpoint.valid) {
_is_throttle_above_center = (manual_control_setpoint.throttle > 0.2f);
_is_throttle_low = (manual_control_setpoint.throttle < -0.8f);
_last_manual_throttle = manual_control_setpoint.throttle;
if (isArmed()) {
// Abort autonomous mode and switch to position mode if sticks are moved significantly

3
src/modules/commander/Commander.hpp
View File

@ -279,8 +279,7 @@ private:
bool _last_overload{false};
bool _mode_switch_mapped{false};
bool _is_throttle_above_center{false};
bool _is_throttle_low{false};
float _last_manual_throttle{-1.f};
bool _arm_tune_played{false};
bool _have_taken_off_since_arming{false};