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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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2
msg/ActuatorArmed.msg
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@ -4,6 +4,6 @@ bool armed # Set to true if system is armed
bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool manual_lockdown # Set to true if manual throttle kill switch is engaged
bool kill # Set to true if manual throttle kill switch is engaged
bool termination # Send out failsafe (by default same as disarmed) output
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics

4
src/drivers/px4io/px4io.cpp
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@ -791,11 +791,11 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
}
if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
if ((armed.lockdown || armed.kill) && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = true;
} else if (!(armed.lockdown || armed.manual_lockdown) && _lockdown_override) {
} else if (!(armed.lockdown || armed.kill) && _lockdown_override) {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = false;
}

2
src/drivers/uavcan/arming_status.cpp
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@ -66,7 +66,7 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
if (_actuator_armed_sub.update(&actuator_armed)) {
uavcan::equipment::safety::ArmingStatus cmd;
if (actuator_armed.lockdown || actuator_armed.manual_lockdown) {
if (actuator_armed.lockdown || actuator_armed.kill) {
cmd.status = cmd.STATUS_DISARMED;
} else if (actuator_armed.armed) {

4
src/lib/mixer_module/mixer_module.cpp
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@ -458,7 +458,7 @@ bool MixingOutput::update()
// Send output if any function mapped or one last disabling sample
if (!all_disabled || !_was_all_disabled) {
if (!_armed.armed && !_armed.manual_lockdown) {
if (!_armed.armed && !_armed.kill) {
_actuator_test.overrideValues(outputs, _max_num_outputs);
}
@ -473,7 +473,7 @@ bool MixingOutput::update()
void
MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates)
{
if (_armed.lockdown || _armed.manual_lockdown) {
if (_armed.lockdown || _armed.kill) {
// overwrite outputs in case of lockdown with disarmed values
for (size_t i = 0; i < _max_num_outputs; i++) {
_current_output_value[i] = _disarmed_value[i];

4
src/lib/mixer_module/mixer_module_tests.cpp
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@ -148,13 +148,13 @@ public:
_actuator_test_pub.publish(actuator_test);
}
void sendActuatorArmed(bool armed, bool termination = false, bool manual_lockdown = false, bool prearm = false)
void sendActuatorArmed(bool armed, bool termination = false, bool kill = false, bool prearm = false)
{
actuator_armed_s actuator_armed{};
actuator_armed.timestamp = hrt_absolute_time();
actuator_armed.armed = armed;
actuator_armed.termination = termination;
actuator_armed.manual_lockdown = manual_lockdown;
actuator_armed.kill = kill;
actuator_armed.prearmed = prearm;
_actuator_armed_pub.publish(actuator_armed);
}

16
src/modules/commander/Commander.cpp
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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 {

2
src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
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@ -42,7 +42,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
actuator_armed_s actuator_armed;
if (_actuator_armed_sub.copy(&actuator_armed)) {
if (actuator_armed.termination || actuator_armed.manual_lockdown) {
if (actuator_armed.termination || actuator_armed.kill) {
/* EVENT
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_system_flight_term_active"),

5
src/modules/mavlink/streams/HEARTBEAT.hpp
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@ -119,9 +119,8 @@ private:
}
// system_status overrides
if (actuator_armed.termination
|| (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)
|| actuator_armed.manual_lockdown) {
if (actuator_armed.termination || actuator_armed.kill
|| (actuator_armed.lockdown && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)) {
system_status = MAV_STATE_FLIGHT_TERMINATION;
}