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Rename manual_lockdown to kill for clarity

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This commit is contained in:
Matthias Grob
2025-07-28 10:15:59 +02:00
parent 32531c870e
commit 79b46e08a8
8 changed files with 19 additions and 20 deletions
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src/modules/commander/Commander.cpp
+8 -8
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@@ -93,7 +93,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
a.prearmed == b.prearmed &&
a.ready_to_arm == b.ready_to_arm &&
a.lockdown == b.lockdown &&
a.manual_lockdown == b.manual_lockdown &&
a.kill == b.kill &&
a.termination == b.termination &&
a.in_esc_calibration_mode == b.in_esc_calibration_mode);
}
@@ -1662,17 +1662,17 @@ void Commander::executeActionRequest(const action_request_s &action_request)
break;
case action_request_s::ACTION_UNKILL:
if (_actuator_armed.manual_lockdown) {
if (_actuator_armed.kill) {
mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t");
events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged");
_status_changed = true;
_actuator_armed.manual_lockdown = false;
_actuator_armed.kill = false;
}
break;
case action_request_s::ACTION_KILL:
if (!_actuator_armed.manual_lockdown) {
if (!_actuator_armed.kill) {
const char kill_switch_string[] = "Kill engaged\t";
events::LogLevels log_levels{events::Log::Info};
@@ -1687,7 +1687,7 @@ void Commander::executeActionRequest(const action_request_s &action_request)
events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged");
_status_changed = true;
_actuator_armed.manual_lockdown = true;
_actuator_armed.kill = true;
}
break;
@@ -1897,7 +1897,7 @@ void Commander::run()
_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| _multicopter_throw_launch.isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
// _actuator_armed.kill // action_request_s::ACTION_KILL
_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
@@ -2285,7 +2285,7 @@ void Commander::handleAutoDisarm()
}
// Auto disarm after 5 seconds if kill switch is engaged
bool auto_disarm = _actuator_armed.manual_lockdown;
bool auto_disarm = _actuator_armed.kill;
// auto disarm if locked down to avoid user confusion
// skipped in HITL where lockdown is enabled for safety
@@ -2299,7 +2299,7 @@ void Commander::handleAutoDisarm()
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
if (_actuator_armed.manual_lockdown) {
if (_actuator_armed.kill) {
disarm(arm_disarm_reason_t::kill_switch, true);
} else {