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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
2019-09-02 10:47:40 -04:00
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.hpp
+9 -1
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@@ -140,10 +140,18 @@ private:
(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode
)
enum class PrearmedMode {
DISABLED = 0,
SAFETY_BUTTON = 1,
ALWAYS = 2
};
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */