fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 16:48:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

splitting preflight and land disarm times into 2 parameters

Browse Source
This commit is contained in:
Jimmy Johnson
2019-08-14 14:17:33 +02:00
committed by Mathieu Bresciani
parent e25db01620
commit 963467b4df
3 changed files with 28 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+10 -12
View File
@@ -561,7 +561,7 @@ Commander::Commander() :
ModuleParams(nullptr),
_failure_detector(this)
{
_auto_disarm_landed.set_hysteresis_time_from(false, 10_s);
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
_auto_disarm_killed.set_hysteresis_time_from(false, 5_s);
// We want to accept RC inputs as default
@@ -1670,25 +1670,23 @@ Commander::run()
// Auto disarm when landed or kill switch engaged
if (armed.armed) {
// Check for auto-disarm on landing
if (_param_com_disarm_land.get() > 0) {
// Check for auto-disarm on landing or pre-flight
if (_param_com_disarm_land.get() > 0 || _param_com_disarm_preflight.get() > 0) {
if (!have_taken_off_since_arming) {
// pilot has ten seconds time to take off
_auto_disarm_landed.set_hysteresis_time_from(false, 10_s);
} else {
if (_param_com_disarm_land.get() > 0 && have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
}
_auto_disarm_landed.set_state_and_update(land_detector.landed, hrt_absolute_time());
_auto_disarm_landed.set_state_and_update(land_detector.landed, hrt_absolute_time());
} else if (_param_com_disarm_preflight.get() > 0 && !have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
}
if (_auto_disarm_landed.get_state()) {
arm_disarm(false, &mavlink_log_pub, "Auto disarm on land");
arm_disarm(false, &mavlink_log_pub, "Auto disarm initiated");
}
}
// Auto disarm after 5 seconds if kill switch is engaged
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown, hrt_absolute_time());
src/modules/commander/Commander.hpp
+1
View File
@@ -123,6 +123,7 @@ private:
(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
(ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,
src/modules/commander/commander_params.c
+17 -6
View File
@@ -262,18 +262,29 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
* A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
* automatically disarmed in case a landing situation has been detected during this period.
*
* The vehicle will also auto-disarm right after arming if it has not even flown, however the time
* will always be 10 seconds such that the pilot has enough time to take off.
*
* A negative value means that automatic disarming triggered by landing detection is disabled.
*
* @group Commander
* @min -1
* @max 20
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 5.0f);
/**
* Time-out for auto disarm before the first take off
*
* A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
* automatically disarmed when the vehicle has never taken off.
*
* A negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.
*
* @group Commander
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 2.0f);
/**
* Allow arming without GPS