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Commander: replace arm requirements

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This commit is contained in:
Matthias Grob
2022-06-15 09:53:36 +02:00
committed by Daniel Agar
parent 3b3d8b9942
commit 92b6862485
11 changed files with 58 additions and 110 deletions
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src/modules/commander/Commander.cpp
+8 -28
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@@ -299,11 +299,9 @@ int Commander::custom_command(int argc, char *argv[])
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags,
vehicle_control_mode,
true, // report_failures
true, // prearm
30_s,
false, // safety_buttton_available not known
false, // safety_off not known
PreFlightCheck::arm_requirements_t{});
false); // safety_off not known
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
print_health_flags(vehicle_status);
@@ -497,7 +495,7 @@ bool Commander::shutdown_if_allowed()
return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_vehicle_status, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_SHUTDOWN,
_actuator_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags, _arm_requirements,
_actuator_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
}
@@ -750,7 +748,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_ARMED, _actuator_armed, run_preflight_checks,
&_mavlink_log_pub, _vehicle_status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
&_mavlink_log_pub, _vehicle_status_flags, hrt_elapsed_time(&_boot_timestamp),
calling_reason);
if (arming_res == TRANSITION_CHANGED) {
@@ -794,7 +792,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
transition_result_t arming_res = _arm_state_machine.arming_state_transition(_vehicle_status, _vehicle_control_mode,
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed, false,
&_mavlink_log_pub, _vehicle_status_flags, _arm_requirements,
&_mavlink_log_pub, _vehicle_status_flags,
hrt_elapsed_time(&_boot_timestamp), calling_reason);
if (arming_res == TRANSITION_CHANGED) {
@@ -855,11 +853,9 @@ Commander::Commander() :
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, // report_failures
true, // prearm
hrt_elapsed_time(&_boot_timestamp),
false, // safety_buttton_available not known
false, // safety_off not known,
PreFlightCheck::arm_requirements_t{});
false); // safety_off not known
}
Commander::~Commander()
@@ -1412,7 +1408,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_INIT, _actuator_armed,
false /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
PreFlightCheck::arm_requirements_t{}, // arming requirements not relevant for switching to ARMING_STATE_INIT
30_s, // time since boot not relevant for switching to ARMING_STATE_INIT
(cmd.from_external ? arm_disarm_reason_t::command_external : arm_disarm_reason_t::command_internal))
) {
@@ -2110,11 +2105,6 @@ void Commander::updateParameters()
_vehicle_status_flags.avoidance_system_required = _param_com_obs_avoid.get();
_arm_requirements.arm_authorization = _param_arm_auth_required.get();
_arm_requirements.esc_check = _param_escs_checks_required.get();
_arm_requirements.global_position = !_param_arm_without_gps.get();
_arm_requirements.mission = _param_arm_mission_required.get();
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1_s);
@@ -2469,7 +2459,7 @@ Commander::run()
_safety.isButtonAvailable(), _safety.isSafetyOff(),
vehicle_status_s::ARMING_STATE_STANDBY, _actuator_armed,
true /* fRunPreArmChecks */, &_mavlink_log_pub, _vehicle_status_flags,
_arm_requirements, hrt_elapsed_time(&_boot_timestamp),
hrt_elapsed_time(&_boot_timestamp),
arm_disarm_reason_t::transition_to_standby);
}
@@ -2538,7 +2528,6 @@ Commander::run()
/* start geofence result check */
if (_geofence_result_sub.update(&_geofence_result)) {
_arm_requirements.geofence = (_geofence_result.geofence_action != geofence_result_s::GF_ACTION_NONE);
_vehicle_status.geofence_violated = _geofence_result.geofence_violated;
}
@@ -3007,17 +2996,12 @@ Commander::run()
// Evaluate current prearm status (skip during arm -> disarm transition)
if (!actuator_armed_prev.armed && !_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
perf_begin(_preflight_check_perf);
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
arm_req.arm_authorization = false;
_vehicle_status_flags.pre_flight_checks_pass = PreFlightCheck::preflightCheck(nullptr, _vehicle_status,
_vehicle_status_flags,
_vehicle_control_mode,
false, // report_failures
true, // prearm
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff(),
arm_req);
_safety.isButtonAvailable(), _safety.isSafetyOff());
perf_end(_preflight_check_perf);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true,
@@ -3641,14 +3625,10 @@ void Commander::data_link_check()
if (!_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
// make sure to report preflight check failures to a connecting GCS
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
arm_req.arm_authorization = false;
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
true, // report_failures
false, // prearm
hrt_elapsed_time(&_boot_timestamp),
_safety.isButtonAvailable(), _safety.isSafetyOff(), arm_req);
_safety.isButtonAvailable(), _safety.isSafetyOff());
}
}