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Use arm_request for manual killing

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This commit is contained in:
Matthias Grob
2021-10-19 11:01:41 +02:00
parent af607e3040
commit f8e4846851
5 changed files with 39 additions and 19 deletions
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src/modules/commander/Commander.cpp
+32 -1
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@@ -2468,7 +2468,7 @@ Commander::run()
case arm_request_s::ACTION_ARM: arm(arm_disarm_reason); break;
case arm_request_s::ACTION_TOGGLE:
case arm_request_s::ACTION_TOGGLE_ARMING:
if (_armed.armed) {
disarm(arm_disarm_reason);
@@ -2476,6 +2476,37 @@ Commander::run()
arm(arm_disarm_reason);
}
break;
case arm_request_s::ACTION_UNKILL:
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && _armed.manual_lockdown) {
mavlink_log_info(&_mavlink_log_pub, "Kill-switch disengaged\t");
events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill-switch disengaged");
_status_changed = true;
_armed.manual_lockdown = false;
}
break;
case arm_request_s::ACTION_KILL:
if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && !_armed.manual_lockdown) {
const char kill_switch_string[] = "Kill-switch engaged\t";
events::LogLevels log_levels{events::Log::Info};
if (_land_detector.landed) {
mavlink_log_info(&_mavlink_log_pub, kill_switch_string);
} else {
mavlink_log_critical(&_mavlink_log_pub, kill_switch_string);
log_levels.external = events::Log::Critical;
}
events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill-switch engaged");
_status_changed = true;
_armed.manual_lockdown = true;
}
break;
}
}