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commander: use control mode flags and cleanup arm_disarm

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- keep `vehicle_control_mode` last state in commander and use appropriate flags in place of various main_state and nav_state checks
 - consolidate scattered arming requirements in `arm_disarm()`
   - there were a number of different requirements from arming via RC vs Mavlink that don't make any sense
        - if geofence enabled require valid home before arming
        - throttle requirements for manual modes
 - remove unnecessary mavlink feedback that differs between arming interfaces (mavlink vs RC)
      - let the preflight/prearm checks respond directly in most cases 

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Daniel Agar
2021-02-15 12:03:21 -05:00
committed by GitHub
parent 37f78537c3
commit 0618f048f2
2 changed files with 297 additions and 313 deletions
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src/modules/commander/Commander.cpp
+288 -307
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File diff suppressed because it is too large Load Diff
src/modules/commander/Commander.hpp
+9 -6
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@@ -124,7 +124,8 @@ public:
private:
void answer_command(const vehicle_command_s &cmd, uint8_t result);
transition_result_t arm_disarm(bool arm, bool run_preflight_checks, arm_disarm_reason_t calling_reason);
transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true);
transition_result_t disarm(arm_disarm_reason_t calling_reason);
void battery_status_check();
@@ -153,7 +154,6 @@ private:
void offboard_control_update();
void print_reject_arm(const char *msg);
void print_reject_mode(const char *msg);
void reset_posvel_validity();
@@ -391,16 +391,19 @@ private:
main_state_t _main_state_pre_offboard{commander_state_s::MAIN_STATE_MANUAL};
actuator_armed_s _armed{};
commander_state_s _internal_state{};
cpuload_s _cpuload{};
geofence_result_s _geofence_result{};
vehicle_land_detected_s _land_detector{};
safety_s _safety{};
vehicle_status_s _status{};
vehicle_status_flags_s _status_flags{};
vtol_vehicle_status_s _vtol_status{};
// commander publications
actuator_armed_s _armed{};
commander_state_s _internal_state{};
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_status_s _status{};
vehicle_status_flags_s _status_flags{};
WorkerThread _worker_thread;
// Subscriptions