From af439dc630a05cfcd07c97b1ede0da95dc19df73 Mon Sep 17 00:00:00 2001 From: sluvd Date: Mon, 23 Jun 2025 03:58:44 +0200 Subject: [PATCH] Rename kill switch to emergency stop --- docs/en/config/flight_mode.md | 4 ++-- docs/en/msg_docs/ManualControlSwitches.md | 2 +- docs/en/msg_docs/VehicleStatus.md | 2 +- docs/en/msg_docs/VehicleStatusV0.md | 2 +- docs/ko/config/flight_mode.md | 2 +- docs/ko/msg_docs/ManualControlSwitches.md | 2 +- docs/ko/msg_docs/VehicleStatus.md | 2 +- docs/ko/msg_docs/VehicleStatusV0.md | 2 +- docs/uk/config/flight_mode.md | 2 +- docs/uk/msg_docs/ManualControlSwitches.md | 2 +- docs/uk/msg_docs/VehicleStatus.md | 2 +- docs/uk/msg_docs/VehicleStatusV0.md | 2 +- docs/zh/config/flight_mode.md | 2 +- docs/zh/msg_docs/ManualControlSwitches.md | 2 +- docs/zh/msg_docs/VehicleStatus.md | 2 +- docs/zh/msg_docs/VehicleStatusV0.md | 2 +- msg/ActionRequest.msg | 4 ++-- msg/ManualControlSwitches.msg | 2 +- msg/RcChannels.msg | 2 +- msg/px4_msgs_old/msg/VehicleStatusV0.msg | 2 +- msg/versioned/VehicleStatus.msg | 2 +- src/drivers/osd/msp_osd/msp_defines.h | 2 +- src/lib/events/enums.json | 4 ++-- src/modules/commander/Commander.cpp | 24 +++++++++---------- .../checks/manualControlCheck.cpp | 8 +++---- src/modules/commander/commander_params.c | 4 ++-- src/modules/manual_control/ManualControl.cpp | 12 +++++----- .../manual_control/ManualControlTest.cpp | 16 ++++++------- .../mavlink/streams/MANUAL_CONTROL.hpp | 2 +- src/modules/rc_update/params.c | 2 +- src/modules/rc_update/rc_update.cpp | 6 ++--- 31 files changed, 63 insertions(+), 63 deletions(-) diff --git a/docs/en/config/flight_mode.md b/docs/en/config/flight_mode.md index 545f1a2acc..85774a6d5e 100644 --- a/docs/en/config/flight_mode.md +++ b/docs/en/config/flight_mode.md @@ -24,7 +24,7 @@ Most users should set the following modes and functions, as these make the vehic It is also common to map switches to: - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station. -- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). +- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). ## Flight Mode Selection @@ -49,7 +49,7 @@ To configure single-channel flight mode selection: * Select the flight mode that you want triggered for each switch position. 1. Specify *Switch Settings*: * Select the channels that you want to map to specific actions - e.g.: *Return* mode, *Kill switch*, *offboard* mode, etc. (if you have spare switches and channels on your transmitter). - + 1. Test that the modes are mapped to the right transmitter switches: * Check the *Channel Monitor* to confirm that the expected channel is changed by each switch. * Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on *QGroundControl* for the active mode). diff --git a/docs/en/msg_docs/ManualControlSwitches.md b/docs/en/msg_docs/ManualControlSwitches.md index 189682730f..1b60272a90 100644 --- a/docs/en/msg_docs/ManualControlSwitches.md +++ b/docs/en/msg_docs/ManualControlSwitches.md @@ -27,7 +27,7 @@ uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD -uint8 kill_switch # throttle kill: _NORMAL_, KILL +uint8 emergency_stop_switch # throttle kill: _NORMAL_, KILL uint8 termination_switch # trigger termination which cannot be undone uint8 gear_switch # landing gear switch: _DOWN_, UP uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md index 05e3f98bbb..a93881bdbc 100644 --- a/docs/en/msg_docs/VehicleStatus.md +++ b/docs/en/msg_docs/VehicleStatus.md @@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_LANDING = 6 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 8 uint8 ARM_DISARM_REASON_RC_BUTTON = 13 uint8 ARM_DISARM_REASON_FAILSAFE = 14 diff --git a/docs/en/msg_docs/VehicleStatusV0.md b/docs/en/msg_docs/VehicleStatusV0.md index 9a91186524..a3443aa7f2 100644 --- a/docs/en/msg_docs/VehicleStatusV0.md +++ b/docs/en/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 9 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 9 uint8 ARM_DISARM_REASON_LOCKDOWN = 10 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11 uint8 ARM_DISARM_REASON_SHUTDOWN = 12 diff --git a/docs/ko/config/flight_mode.md b/docs/ko/config/flight_mode.md index da272589c7..c429532ae3 100644 --- a/docs/ko/config/flight_mode.md +++ b/docs/ko/config/flight_mode.md @@ -25,7 +25,7 @@ You can set any (or none) of the flight modes [available to your vehicle](../fli It is also common to map switches to: - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station. -- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). +- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). ## 비행 모드 선택 diff --git a/docs/ko/msg_docs/ManualControlSwitches.md b/docs/ko/msg_docs/ManualControlSwitches.md index 189682730f..1b60272a90 100644 --- a/docs/ko/msg_docs/ManualControlSwitches.md +++ b/docs/ko/msg_docs/ManualControlSwitches.md @@ -27,7 +27,7 @@ uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD -uint8 kill_switch # throttle kill: _NORMAL_, KILL +uint8 emergency_stop_switch # throttle kill: _NORMAL_, KILL uint8 termination_switch # trigger termination which cannot be undone uint8 gear_switch # landing gear switch: _DOWN_, UP uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT diff --git a/docs/ko/msg_docs/VehicleStatus.md b/docs/ko/msg_docs/VehicleStatus.md index 05e3f98bbb..a93881bdbc 100644 --- a/docs/ko/msg_docs/VehicleStatus.md +++ b/docs/ko/msg_docs/VehicleStatus.md @@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_LANDING = 6 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 8 uint8 ARM_DISARM_REASON_RC_BUTTON = 13 uint8 ARM_DISARM_REASON_FAILSAFE = 14 diff --git a/docs/ko/msg_docs/VehicleStatusV0.md b/docs/ko/msg_docs/VehicleStatusV0.md index 9a91186524..a3443aa7f2 100644 --- a/docs/ko/msg_docs/VehicleStatusV0.md +++ b/docs/ko/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 9 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 9 uint8 ARM_DISARM_REASON_LOCKDOWN = 10 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11 uint8 ARM_DISARM_REASON_SHUTDOWN = 12 diff --git a/docs/uk/config/flight_mode.md b/docs/uk/config/flight_mode.md index 4b8f9d0d42..a6cf6ac6d8 100644 --- a/docs/uk/config/flight_mode.md +++ b/docs/uk/config/flight_mode.md @@ -25,7 +25,7 @@ You can set any (or none) of the flight modes [available to your vehicle](../fli Також звичайно відображати перемикачі на: - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station. -- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). +- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). ## Вибір режиму польоту diff --git a/docs/uk/msg_docs/ManualControlSwitches.md b/docs/uk/msg_docs/ManualControlSwitches.md index 189682730f..1b60272a90 100644 --- a/docs/uk/msg_docs/ManualControlSwitches.md +++ b/docs/uk/msg_docs/ManualControlSwitches.md @@ -27,7 +27,7 @@ uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD -uint8 kill_switch # throttle kill: _NORMAL_, KILL +uint8 emergency_stop_switch # throttle kill: _NORMAL_, KILL uint8 termination_switch # trigger termination which cannot be undone uint8 gear_switch # landing gear switch: _DOWN_, UP uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md index 63192fceb7..d692e8860a 100644 --- a/docs/uk/msg_docs/VehicleStatus.md +++ b/docs/uk/msg_docs/VehicleStatus.md @@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_LANDING = 6 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 8 uint8 ARM_DISARM_REASON_RC_BUTTON = 13 uint8 ARM_DISARM_REASON_FAILSAFE = 14 diff --git a/docs/uk/msg_docs/VehicleStatusV0.md b/docs/uk/msg_docs/VehicleStatusV0.md index a72e788eb5..7bdea0f8ea 100644 --- a/docs/uk/msg_docs/VehicleStatusV0.md +++ b/docs/uk/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 9 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 9 uint8 ARM_DISARM_REASON_LOCKDOWN = 10 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11 uint8 ARM_DISARM_REASON_SHUTDOWN = 12 diff --git a/docs/zh/config/flight_mode.md b/docs/zh/config/flight_mode.md index 557577e9ad..9daf313768 100644 --- a/docs/zh/config/flight_mode.md +++ b/docs/zh/config/flight_mode.md @@ -25,7 +25,7 @@ Most users should set the following modes and functions, as these make the vehic It is also common to map switches to: - **Mission mode** — This mode runs a pre-programmed mission sent by the ground control station. -- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). +- [Kill Switch](../config/safety.md#kill-switch) - Immediately stops all motor outputs (the vehicle will crash, which may in some circumstances be more desirable than allowing it to continue flying). ## Flight Mode Selection diff --git a/docs/zh/msg_docs/ManualControlSwitches.md b/docs/zh/msg_docs/ManualControlSwitches.md index 189682730f..1b60272a90 100644 --- a/docs/zh/msg_docs/ManualControlSwitches.md +++ b/docs/zh/msg_docs/ManualControlSwitches.md @@ -27,7 +27,7 @@ uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD -uint8 kill_switch # throttle kill: _NORMAL_, KILL +uint8 emergency_stop_switch # throttle kill: _NORMAL_, KILL uint8 termination_switch # trigger termination which cannot be undone uint8 gear_switch # landing gear switch: _DOWN_, UP uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT diff --git a/docs/zh/msg_docs/VehicleStatus.md b/docs/zh/msg_docs/VehicleStatus.md index 05e3f98bbb..a93881bdbc 100644 --- a/docs/zh/msg_docs/VehicleStatus.md +++ b/docs/zh/msg_docs/VehicleStatus.md @@ -27,7 +27,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_LANDING = 6 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 8 uint8 ARM_DISARM_REASON_RC_BUTTON = 13 uint8 ARM_DISARM_REASON_FAILSAFE = 14 diff --git a/docs/zh/msg_docs/VehicleStatusV0.md b/docs/zh/msg_docs/VehicleStatusV0.md index 9a91186524..a3443aa7f2 100644 --- a/docs/zh/msg_docs/VehicleStatusV0.md +++ b/docs/zh/msg_docs/VehicleStatusV0.md @@ -29,7 +29,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 9 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 9 uint8 ARM_DISARM_REASON_LOCKDOWN = 10 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11 uint8 ARM_DISARM_REASON_SHUTDOWN = 12 diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg index d1bd235d3a..e25d21472f 100644 --- a/msg/ActionRequest.msg +++ b/msg/ActionRequest.msg @@ -10,8 +10,8 @@ uint8 action # [@enum ACTION] Requested acti uint8 ACTION_DISARM = 0 # Disarm vehicle uint8 ACTION_ARM = 1 # Arm vehicle uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming -uint8 ACTION_UNKILL = 3 # Revert a kill action -uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors) +uint8 ACTION_REVERT_EMERGENGY_STOP = 3 # Revert a emergency stop action +uint8 ACTION_EMERGENGY_STOP = 4 # emergency stop the vehicle uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field. uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight diff --git a/msg/ManualControlSwitches.msg b/msg/ManualControlSwitches.msg index 4f8b426ada..8d9e835645 100644 --- a/msg/ManualControlSwitches.msg +++ b/msg/ManualControlSwitches.msg @@ -22,7 +22,7 @@ uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD -uint8 kill_switch # throttle kill: _NORMAL_, KILL +uint8 emergency_stop_switch # throttle kill: _NORMAL_, KILL uint8 termination_switch # trigger termination which cannot be undone uint8 gear_switch # landing gear switch: _DOWN_, UP uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT diff --git a/msg/RcChannels.msg b/msg/RcChannels.msg index c8cc2e9354..7d639f0931 100644 --- a/msg/RcChannels.msg +++ b/msg/RcChannels.msg @@ -17,7 +17,7 @@ uint8 FUNCTION_AUX_6 = 13 uint8 FUNCTION_PARAM_1 = 14 uint8 FUNCTION_PARAM_2 = 15 uint8 FUNCTION_PARAM_3_5 = 16 -uint8 FUNCTION_KILLSWITCH = 17 +uint8 FUNCTION_EMERGENCYSTOPSWITCH = 17 uint8 FUNCTION_TRANSITION = 18 uint8 FUNCTION_GEAR = 19 uint8 FUNCTION_ARMSWITCH = 20 diff --git a/msg/px4_msgs_old/msg/VehicleStatusV0.msg b/msg/px4_msgs_old/msg/VehicleStatusV0.msg index a347dfce3d..7e362818d2 100644 --- a/msg/px4_msgs_old/msg/VehicleStatusV0.msg +++ b/msg/px4_msgs_old/msg/VehicleStatusV0.msg @@ -22,7 +22,7 @@ uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6 uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7 uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 9 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 9 uint8 ARM_DISARM_REASON_LOCKDOWN = 10 uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11 uint8 ARM_DISARM_REASON_SHUTDOWN = 12 diff --git a/msg/versioned/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg index 185076a5d6..cbce80d266 100644 --- a/msg/versioned/VehicleStatus.msg +++ b/msg/versioned/VehicleStatus.msg @@ -20,7 +20,7 @@ uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 uint8 ARM_DISARM_REASON_MISSION_START = 5 uint8 ARM_DISARM_REASON_LANDING = 6 uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 -uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_emergency_stop_switch = 8 uint8 ARM_DISARM_REASON_RC_BUTTON = 13 uint8 ARM_DISARM_REASON_FAILSAFE = 14 diff --git a/src/drivers/osd/msp_osd/msp_defines.h b/src/drivers/osd/msp_osd/msp_defines.h index eeb8a12810..8c0a37b34e 100644 --- a/src/drivers/osd/msp_osd/msp_defines.h +++ b/src/drivers/osd/msp_osd/msp_defines.h @@ -360,7 +360,7 @@ struct msp_rendor_rssi_t { // MSP_ARMING_CONFIG reply struct msp_arming_config_t { uint8_t auto_disarm_delay; - uint8_t disarm_kill_switch; + uint8_t disarm_emergency_stop_switch; } __attribute__((packed)); diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index acd73c1447..001dbd2d08 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -471,8 +471,8 @@ "description": "preflight inaction" }, "8": { - "name": "kill_switch", - "description": "kill switch" + "name": "emergency_stop_switch", + "description": "emergency stop" }, "13": { "name": "rc_button", diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 4f6bfa0faf..e2203a00f4 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -526,7 +526,7 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r static_assert( (uint8_t)arm_disarm_reason_t::preflight_inaction == vehicle_status_s::ARM_DISARM_REASON_PREFLIGHT_INACTION, "(dis)arm enum mismatch"); - static_assert((uint8_t)arm_disarm_reason_t::kill_switch == vehicle_status_s::ARM_DISARM_REASON_KILL_SWITCH, + static_assert((uint8_t)arm_disarm_reason_t::emergency_stop_switch == vehicle_status_s::ARM_DISARM_REASON_emergency_stop_switch, "(dis)arm enum mismatch"); static_assert((uint8_t)arm_disarm_reason_t::rc_button == vehicle_status_s::ARM_DISARM_REASON_RC_BUTTON, "(dis)arm enum mismatch"); @@ -548,7 +548,7 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r case arm_disarm_reason_t::preflight_inaction: return "auto preflight disarming"; - case arm_disarm_reason_t::kill_switch: return "kill-switch"; + case arm_disarm_reason_t::emergency_stop_switch: return "emergency-stop"; case arm_disarm_reason_t::rc_button: return "RC button"; @@ -1696,30 +1696,30 @@ void Commander::executeActionRequest(const action_request_s &action_request) break; - case action_request_s::ACTION_UNKILL: + case action_request_s::ACTION_REVERT_EMERGENGY_STOP: if (_actuator_armed.kill) { - mavlink_log_info(&_mavlink_log_pub, "Kill disengaged\t"); - events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill disengaged"); + mavlink_log_info(&_mavlink_log_pub, "Emergency Stop Disengaged\t"); + events::send(events::ID("commander_emergency_stop_disengaged"), events::Log::Info, "Emergency Stop Disengaged"); _status_changed = true; _actuator_armed.kill = false; } break; - case action_request_s::ACTION_KILL: + case action_request_s::ACTION_EMERGENGY_STOP: if (!_actuator_armed.kill) { - const char kill_switch_string[] = "Kill engaged\t"; + const char emergency_stop_switch_string[] = "Emergency Stop Engaged\t"; events::LogLevels log_levels{events::Log::Info}; if (_vehicle_land_detected.landed) { - mavlink_log_info(&_mavlink_log_pub, kill_switch_string); + mavlink_log_info(&_mavlink_log_pub, emergency_stop_switch_string); } else { - mavlink_log_critical(&_mavlink_log_pub, kill_switch_string); + mavlink_log_critical(&_mavlink_log_pub, emergency_stop_switch_string); log_levels.external = events::Log::Critical; } - events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill engaged"); + events::send(events::ID("commander_emergency_stop_engaged"), log_levels, "Emergency Stop Engaged"); _status_changed = true; _actuator_armed.kill = true; @@ -1931,7 +1931,7 @@ void Commander::run() _actuator_armed.prearmed = getPrearmState(); _actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed(); _actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress(); - // _actuator_armed.kill // action_request_s::ACTION_KILL + // _actuator_armed.kill // action_request_s::ACTION_EMERGENGY_STOP _actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION); // _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION @@ -2309,7 +2309,7 @@ void Commander::handleAutoDisarm() _auto_disarm_killed.set_state_and_update(_actuator_armed.kill, hrt_absolute_time()); if (_auto_disarm_killed.get_state()) { - disarm(arm_disarm_reason_t::kill_switch, true); + disarm(arm_disarm_reason_t::emergency_stop_switch, true); } } else { diff --git a/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp index fe22363d16..52f1a52827 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp @@ -58,15 +58,15 @@ void ManualControlChecks::checkAndReport(const Context &context, Report &reporte } } - if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) { + if (manual_control_switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_ON) { /* EVENT */ reporter.armingCheckFailure(NavModes::All, health_component_t::remote_control, - events::ID("check_man_control_kill_engaged"), - events::Log::Error, "Kill switch engaged"); + events::ID("check_man_control_emergency_stop_engaged"), + events::Log::Error, "Emergency Stop Engaged"); if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Kill switch engaged"); + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Emergency Stop Engaged"); } } diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 2c53e36c66..94ee477465 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -734,9 +734,9 @@ PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0); PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1); /** - * Timeout value for disarming when kill switch is engaged + * Timeout value for disarming when emergency stop switch is engaged * - * Use RC_MAP_KILL_SW to map a kill switch. + * Use RC_MAP_KILL_SW to map a emergency stop switch. * * @group Commander * @unit s diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index 517639100c..c5fc0e9e9b 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -228,12 +228,12 @@ void ManualControl::processSwitches(hrt_abstime &now) } } - if (switches.kill_switch != _previous_switches.kill_switch) { - if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_RC_SWITCH); + if (switches.emergency_stop_switch != _previous_switches.emergency_stop_switch) { + if (switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_ON) { + sendActionRequest(action_request_s::ACTION_EMERGENGY_STOP, action_request_s::SOURCE_RC_SWITCH); - } else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) { - sendActionRequest(action_request_s::ACTION_UNKILL, action_request_s::SOURCE_RC_SWITCH); + } else if (switches.emergency_stop_switch == manual_control_switches_s::SWITCH_POS_OFF) { + sendActionRequest(action_request_s::ACTION_REVERT_EMERGENGY_STOP, action_request_s::SOURCE_RC_SWITCH); } } @@ -396,7 +396,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input) _stick_kill_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_lower_right, input.timestamp); if (!previous_stick_kill_hysteresis && _stick_kill_hysteresis.get_state()) { - sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_STICK_GESTURE); + sendActionRequest(action_request_s::ACTION_EMERGENGY_STOP, action_request_s::SOURCE_STICK_GESTURE); } } } diff --git a/src/modules/manual_control/ManualControlTest.cpp b/src/modules/manual_control/ManualControlTest.cpp index 6646908e49..ba16280471 100644 --- a/src/modules/manual_control/ManualControlTest.cpp +++ b/src/modules/manual_control/ManualControlTest.cpp @@ -36,8 +36,8 @@ static constexpr uint64_t SOME_TIME = 12345678; -static constexpr uint8_t ACTION_KILL = action_request_s::ACTION_KILL; -static constexpr uint8_t ACTION_UNKILL = action_request_s::ACTION_UNKILL; +static constexpr uint8_t ACTION_EMERGENGY_STOP = action_request_s::ACTION_EMERGENGY_STOP; +static constexpr uint8_t ACTION_REVERT_EMERGENGY_STOP = action_request_s::ACTION_REVERT_EMERGENGY_STOP; static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_FIXEDWING = action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING; static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_MULTICOPTER = action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER; @@ -93,12 +93,12 @@ public: }; -TEST_F(SwitchTest, KillSwitch) +TEST_F(SwitchTest, EmergencyStopSwitch) { // GIVEN: valid stick input from RC _manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC}); // and kill switch in off position - _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_ON}); _manual_control.processInput(_timestamp += 100_ms); // THEN: the stick input is published for use @@ -108,20 +108,20 @@ TEST_F(SwitchTest, KillSwitch) EXPECT_FALSE(_action_request_sub.update()); // WHEN: the kill switch is switched on - _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_OFF}); + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_OFF}); _manual_control.processInput(_timestamp += 100_ms); // THEN: a kill action request is published EXPECT_TRUE(_action_request_sub.update()); - EXPECT_EQ(_action_request_sub.get().action, ACTION_UNKILL); + EXPECT_EQ(_action_request_sub.get().action, ACTION_REVERT_EMERGENGY_STOP); // WHEN: the kill switch is switched off again - _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON}); + _manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .emergency_stop_switch = manual_control_switches_s::SWITCH_POS_ON}); _manual_control.processInput(_timestamp += 100_ms); // THEN: an unkill action request is published EXPECT_TRUE(_action_request_sub.update()); - EXPECT_EQ(_action_request_sub.get().action, ACTION_KILL); + EXPECT_EQ(_action_request_sub.get().action, ACTION_EMERGENGY_STOP); } TEST_F(SwitchTest, TransitionSwitch) diff --git a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp index d62aec1b0a..d9a4742c7d 100644 --- a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp +++ b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp @@ -83,7 +83,7 @@ private: msg.buttons |= (manual_control_switches.return_switch << (shift * 1)); msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3)); msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5)); - msg.buttons |= (manual_control_switches.kill_switch << (shift * 6)); + msg.buttons |= (manual_control_switches.emergency_stop_switch << (shift * 6)); } if (PX4_ISFINITE(manual_control_setpoint.aux1)) { diff --git a/src/modules/rc_update/params.c b/src/modules/rc_update/params.c index 3709a3a841..94903ec258 100644 --- a/src/modules/rc_update/params.c +++ b/src/modules/rc_update/params.c @@ -1212,7 +1212,7 @@ PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0); PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); /** - * Emergency Kill switch channel + * Emergency stop switch channel * * This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed. * Unlike termination this can be undone. Quickly flipping the switch back restores control. diff --git a/src/modules/rc_update/rc_update.cpp b/src/modules/rc_update/rc_update.cpp index 52d65bf915..3675fdb4ff 100644 --- a/src/modules/rc_update/rc_update.cpp +++ b/src/modules/rc_update/rc_update.cpp @@ -51,7 +51,7 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control a.return_switch == b.return_switch && a.loiter_switch == b.loiter_switch && a.offboard_switch == b.offboard_switch && - a.kill_switch == b.kill_switch && + a.emergency_stop_switch == b.emergency_stop_switch && a.arm_switch == b.arm_switch && a.transition_switch == b.transition_switch && a.gear_switch == b.gear_switch && @@ -198,7 +198,7 @@ void RCUpdate::update_rc_functions() _rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1; _rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1; _rc.function[rc_channels_s::FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1; - _rc.function[rc_channels_s::FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1; + _rc.function[rc_channels_s::FUNCTION_EMERGENCYSTOPSWITCH] = _param_rc_map_kill_sw.get() - 1; _rc.function[rc_channels_s::FUNCTION_TERMINATION] = _param_rc_map_term_sw.get() - 1; _rc.function[rc_channels_s::FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1; _rc.function[rc_channels_s::FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1; @@ -620,7 +620,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime ×tamp_sample) switches.return_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get()); switches.loiter_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_LOITER, _param_rc_loiter_th.get()); switches.offboard_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_OFFBOARD, _param_rc_offb_th.get()); - switches.kill_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get()); + switches.emergency_stop_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_EMERGENCYSTOPSWITCH, _param_rc_killswitch_th.get()); switches.termination_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TERMINATION, .75f); switches.arm_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get()); switches.transition_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());