fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 00:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: COM_MODE_ARM_CHK parameter to allow mode registration while armed (#24249)

Browse Source
This commit is contained in:
Bertug Dilman
2025-01-28 14:33:15 +01:00
committed by GitHub
parent 58d3e1ea8e
commit a0a2bdaea5
4 changed files with 22 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/ModeManagement.cpp
+3 -6
View File
@@ -370,11 +370,7 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa
_failsafe_action_active = failsafe_action_active;
_external_checks.update();
bool allow_update_while_armed = false;
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
// For simulation, allow registering modes while armed for developer convenience
allow_update_while_armed = true;
#endif
bool allow_update_while_armed = _external_checks.allowUpdateWhileArmed();
if (armed && !allow_update_while_armed) {
// Reject registration requests
@@ -408,7 +404,8 @@ void ModeManagement::update(bool armed, uint8_t user_intended_nav_state, bool fa
}
}
// As we're disarmed we can use the user intended mode, as no failsafe will be active
// As we're disarmed we can use the user intended mode, as no failsafe will be active.
// Note that this might not be true if COM_MODE_ARM_CHK is set
checkNewRegistrations(update_request);
checkUnregistrations(user_intended_nav_state, update_request);
}