fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 04:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: make optional tilt-check after takeoff (failure detector).

Browse Source 
- Introduced COM_LKDOWN_TKO parameter
    - Introduced auto disarm for lockdown state
    - Do not trigger flight termiantion if system is in lockdown

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2020-04-15 19:30:33 +02:00
committed by Mathieu Bresciani
parent 6358dd400a
commit a7f2f2908b
3 changed files with 27 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+10 -5
View File
@@ -1627,10 +1627,16 @@ Commander::run()
}
// Auto disarm after 5 seconds if kill switch is engaged
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown, hrt_absolute_time());
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown || armed.lockdown, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
arm_disarm(false, true, &mavlink_log_pub, "Kill-switch still engaged, disarming");
if (armed.manual_lockdown) {
arm_disarm(false, true, &mavlink_log_pub, "Kill-switch still engaged, disarming");
} else {
arm_disarm(false, true, &mavlink_log_pub, "System in lockdown, disarming");
}
}
} else {
@@ -2152,10 +2158,9 @@ Commander::run()
if (status.failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
mavlink_log_critical(&mavlink_log_pub, "ESCs did not respond to arm request");
}
} else if (hrt_elapsed_time(&_time_at_takeoff) < 3_s) {
} else if (hrt_elapsed_time(&_time_at_takeoff) < (1_s * _param_com_lkdown_tko.get())) {
// This handles the case where something fails during the early takeoff phase
if (!_lockdown_triggered) {
@@ -2167,7 +2172,7 @@ Commander::run()
}
} else if (!status_flags.circuit_breaker_flight_termination_disabled &&
!_flight_termination_triggered) {
!_flight_termination_triggered && !_lockdown_triggered) {
armed.force_failsafe = true;
_flight_termination_triggered = true;