From b943bd72ab20ecab155976d74986926d1c0349ea Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Thu, 7 Nov 2019 07:03:59 -0800
Subject: [PATCH] commander: Added a parameter to control the timeout period
 for disarming after the kill switch is engaged. (#13325)

---
 src/modules/commander/Commander.cpp      |  3 ++-
 src/modules/commander/Commander.hpp      |  2 ++
 src/modules/commander/commander_params.c | 11 +++++++++++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 3582db6f38..9f469fbb1d 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -558,7 +558,6 @@ Commander::Commander() :
 	_failure_detector(this)
 {
 	_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
-	_auto_disarm_killed.set_hysteresis_time_from(false, 5_s);
 
 	// We want to accept RC inputs as default
 	status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
@@ -1549,6 +1548,8 @@ Commander::run()
 
 			param_get(_param_takeoff_finished_action, &takeoff_complete_act);
 
+			_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
+
 			/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
 			if (_param_airmode != PARAM_INVALID && _param_rc_map_arm_switch != PARAM_INVALID) {
 				param_get(_param_airmode, &airmode);
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 30f8343bbb..d304fdd258 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -149,6 +149,8 @@ private:
 		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
 		(ParamInt<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
 
+		(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
+
 		(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
 		(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
 		(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 49980b7283..c1e3354ebf 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -977,3 +977,14 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 1);
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
+
+/**
+ * Timeout value for disarming when kill switch is engaged
+ *
+ * @group Commander
+ * @unit s
+ * @min 0.0
+ * @max 30.0
+ * @increment 0.1
+ */
+PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
\ No newline at end of file