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Add parameter COM_PREARM_MODE

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Condition to enter the prearmed state, an intermediate state between disarmed and armed
 * in which non-throttling actuators are active.
 *
 * @value 0 Disabled
 * @value 1 Safety button
 * @value 2 Always
This commit is contained in:
Julien Lecoeur
2019-08-21 20:38:08 +02:00
committed by Daniel Agar
parent bc58bed960
commit 9c50f5ea08
3 changed files with 49 additions and 10 deletions
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src/modules/commander/Commander.cpp
+26 -9
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@@ -2333,18 +2333,35 @@ Commander::run()
status.timestamp = hrt_absolute_time();
_status_pub.publish(status);
/* set prearmed state if safety is off, or safety is not present and 5 seconds passed */
if (safety.safety_switch_available) {
switch ((PrearmedMode)_param_com_prearm_mode.get()) {
case PrearmedMode::DISABLED:
/* skip prearmed state */
armed.prearmed = false;
break;
/* safety is off, go into prearmed */
armed.prearmed = safety.safety_off;
} else {
case PrearmedMode::ALWAYS:
/* safety is not present, go into prearmed
* (all output drivers should be started / unlocked last in the boot process
* when the rest of the system is fully initialized)
*/
* (all output drivers should be started / unlocked last in the boot process
* when the rest of the system is fully initialized)
*/
armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5_s);
break;
case PrearmedMode::SAFETY_BUTTON:
if (safety.safety_switch_available) {
/* safety is off, go into prearmed */
armed.prearmed = safety.safety_off;
} else {
/* safety is not present, do not go into prearmed */
armed.prearmed = false;
}
break;
default:
armed.prearmed = false;
break;
}
armed.timestamp = hrt_absolute_time();