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Commander: add parameter to disallow disarming in manual thrust modes

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This commit is contained in:
Matthias Grob
2023-11-17 09:53:56 +01:00
committed by Mathieu Bresciani
parent 78987f6016
commit ead16d0e6c
3 changed files with 15 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -631,7 +631,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
|| (calling_reason == arm_disarm_reason_t::rc_switch) || (calling_reason == arm_disarm_reason_t::rc_switch)
|| (calling_reason == arm_disarm_reason_t::rc_button); || (calling_reason == arm_disarm_reason_t::rc_button);
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) { if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
if (calling_reason != arm_disarm_reason_t::rc_stick) { if (calling_reason != arm_disarm_reason_t::rc_stick) {
mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t"); mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
events::send(events::ID("commander_disarm_denied_not_landed"), events::send(events::ID("commander_disarm_denied_not_landed"),
src/modules/commander/Commander.hpp
+1
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@@ -332,6 +332,7 @@ private:
(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land, (ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight, (ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
(ParamBool<px4::params::COM_DISARM_MAN>) _param_com_disarm_man,
(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t, (ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t, (ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t, (ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
src/modules/commander/commander_params.c
+13
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@@ -245,6 +245,19 @@ PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
*/ */
PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0); PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
/**
* Allow disarming via switch/stick/button on multicopters in manual thrust modes
*
* 0: Disallow disarming when not landed
* 1: Allow disarming in multicopter flight in modes where
* the thrust is directly controlled by thr throttle stick
* e.g. Stabilized, Acro
*
* @group Commander
* @boolean
*/
PARAM_DEFINE_INT32(COM_DISARM_MAN, 1);
/** /**
* Battery failsafe mode * Battery failsafe mode
* *