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commander: allow force disarming

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Allows to do commander disarm -f to disarm no matter what.
This commit is contained in:
Julian Oes
2021-09-01 16:42:05 +02:00
committed by Daniel Agar
parent 333f539900
commit 9290ea974e
1 changed files with 9 additions and 1 deletions
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src/modules/commander/Commander.cpp
+9 -1
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@@ -280,7 +280,14 @@ int Commander::custom_command(int argc, char *argv[])
}
if (!strcmp(argv[0], "disarm")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.f, 0.f);
float param2 = 0.f;
// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
if (argc > 1 && !strcmp(argv[1], "-f")) {
param2 = 21196.f;
}
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.f, param2);
return 0;
}
@@ -4208,6 +4215,7 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force disarming (disarm in air)", true);
PRINT_MODULE_USAGE_COMMAND("takeoff");
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");