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Arm button fix: include the arm switch into the structure of all the checks for RC arming

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This commit is contained in:
Matthias Grob
2016-12-05 10:09:50 +01:00
committed by Lorenz Meier
parent 94c8371ffe
commit f6282f5b3d
1 changed files with 33 additions and 40 deletions
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src/modules/commander/commander.cpp
+33 -40
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@@ -2560,18 +2560,25 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = false;
/* check if left stick is in lower left position or arm button is pushed and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed) -> disarm
/* DISARM
* check if left stick is in lower left position or arm button is pushed or arm switch has transition from arm to disarm
* and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed)
* do it only for rotary wings in manual mode or fixed wing if landed */
bool arm_switch_to_disarm_transition = arm_switch_is_button == 0 &&
_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF;
if ((status.is_rotary_wing || (!status.is_rotary_wing && land_detector.landed)) && status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
(internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||
internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
land_detector.landed) &&
((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
(status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
(internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||
internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
land_detector.landed) &&
((sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) ||
(arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) ||
arm_switch_to_disarm_transition) ) {
if (stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) {
if ((stick_off_counter == rc_arm_hyst && stick_on_counter < rc_arm_hyst) || arm_switch_to_disarm_transition) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
@@ -2592,16 +2599,23 @@ int commander_thread_main(int argc, char *argv[])
}
}
stick_off_counter++;
} else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
/* do not reset the counter when holding the arm button longer than needed */
} else if (!(arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
stick_off_counter = 0;
}
/* check if left stick is in lower right position or arm button is pushed and we're in MANUAL mode -> arm */
/* ARM
* check if left stick is in lower right position or arm button is pushed or arm switch has transition from disarm to arm
* and we're in MANUAL mode */
bool arm_switch_to_arm_transition = arm_switch_is_button == 0 &&
_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON;
if (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF &&
(status.arming_state != vehicle_status_s::ARMING_STATE_ARMED && status.arming_state != vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
((sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) || (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) ) {
if (stick_on_counter == rc_arm_hyst && stick_off_counter < rc_arm_hyst) {
(status.arming_state != vehicle_status_s::ARMING_STATE_ARMED && status.arming_state != vehicle_status_s::ARMING_STATE_ARMED_ERROR) &&
((sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) ||
(arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) ||
arm_switch_to_arm_transition) ) {
if ((stick_on_counter == rc_arm_hyst && stick_off_counter < rc_arm_hyst) || arm_switch_to_arm_transition) {
/* we check outside of the transition function here because the requirement
* for being in manual mode only applies to manual arming actions.
@@ -2643,11 +2657,13 @@ int commander_thread_main(int argc, char *argv[])
}
}
stick_on_counter++;
} else if (arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
/* do not reset the counter when holding the arm button longer than needed */
} else if (!(arm_switch_is_button == 1 && sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
stick_on_counter = 0;
}
_last_sp_man_arm_switch = sp_man.arm_switch;
if (arming_ret == TRANSITION_CHANGED) {
if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
mavlink_log_info(&mavlink_log_pub, "ARMED by RC");
@@ -2696,29 +2712,6 @@ int commander_thread_main(int argc, char *argv[])
armed.lockdown = false;
}
/* no else case: do not change lockdown flag in unconfigured case */
/* check arm switch if it is not used as button */
if (arm_switch_is_button == 0) {
/* transition of the switch from disarm to arm */
if (_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "arm switch")) {
mavlink_log_info(&mavlink_log_pub, "arming by switch failed");
} else {
arming_state_changed = true;
}
/* transition of the switch from arm to disarm */
} else if (_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON &&
sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
if (TRANSITION_CHANGED != arm_disarm(false, &mavlink_log_pub, "arm switch")) {
mavlink_log_info(&mavlink_log_pub, "rejected disarming by switch");
} else {
arming_state_changed = true;
}
}
/* no else case: do not change arming here if arm switch unconfigured */
}
_last_sp_man_arm_switch = sp_man.arm_switch;
} else {
if (!status_flags.rc_input_blocked && !status.rc_signal_lost) {
mavlink_log_critical(&mavlink_log_pub, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);