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splitting preflight and land disarm times into 2 parameters

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This commit is contained in:
Jimmy Johnson
2019-08-02 07:41:25 -07:00
committed by Mathieu Bresciani
parent e25db01620
commit 963467b4df
3 changed files with 28 additions and 18 deletions
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src/modules/commander/Commander.cpp
+10 -12
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@@ -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());