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commander: add parameter COM_REARM_GRACE to optionally disable re-arming grace period

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This commit is contained in:
Nicolas MARTIN
2020-10-01 17:20:08 +02:00
committed by GitHub
parent c1936dab1f
commit 967f741a0e
3 changed files with 15 additions and 4 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -2017,13 +2017,13 @@ Commander::run()
&& !arm_switch_or_button_mapped;
/* allow a grace period for re-arming: preflight checks don't need to pass during that time,
* for example for accidential in-air disarming */
const bool in_arming_grace_period = (_last_disarmed_timestamp != 0)
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s);
const bool in_rearming_grace_period = _param_com_rearm_grace.get() && (_last_disarmed_timestamp != 0)
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s);
const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get() &&
(_last_manual_control_setpoint_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) &&
(_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
(_manual_control_setpoint.z < 0.1f || in_arming_grace_period);
(_manual_control_setpoint.z < 0.1f || in_rearming_grace_period);
if (!in_armed_state &&
(status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) &&
@@ -2051,7 +2051,7 @@ Commander::run()
} else if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
arming_ret = arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_ARMED, &armed,
!in_arming_grace_period /* fRunPreArmChecks */,
!in_rearming_grace_period /* fRunPreArmChecks */,
&mavlink_log_pub, &status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
(arm_switch_to_arm_transition ? arm_disarm_reason_t::RC_SWITCH : arm_disarm_reason_t::RC_STICK));