Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 11:59:17 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

fix(commander): Remove parameter COM_DISARM_MAN

Browse Source
This commit is contained in:
Matthias Grob
2026-04-30 00:27:21 +02:00
parent 66af778f7f
commit 0c0be00046
5 changed files with 3 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
-1
View File
@@ -288,7 +288,6 @@
1 1 COM_ARM_WO_GPS 1 6
1 1 COM_CPU_MAX 95.000000000000000000 9
1 1 COM_DISARM_LAND 2.000000000000000000 9
1 1 COM_DISARM_MAN 1 6
1 1 COM_DISARM_PRFLT 10.000000000000000000 9
1 1 COM_DL_LOSS_T 10 6
1 1 COM_FAIL_ACT_T 5.000000000000000000 9
docs/en/advanced_config/prearm_arm_disarm.md
+2 -3
View File
@@ -52,12 +52,11 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
- _Arm:_ Left-stick to right, right-stick to bottom.
- _Disarm:_ Left-stick to left, right-stick to the bottom.
Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
Note that disarming in any altitude controlled mode is only possible after landing was detected. In manually piloted modes without altitude control Stabilized, Acro, Manual it's always possible to disarm using gestures or buttons also in flight.
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default). |
| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN) | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
## Arming Button/Switch {#arm_disarm_switch}
@@ -89,7 +88,7 @@ The feature is configured using the following timeouts.
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Time-out for auto disarm after landing. Default: 2s (-1 to disable). |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (<=0 to disable). |
| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (-1 to disable). |
## Auto-Arming on Boot
src/modules/commander/Commander.cpp
+1 -1
View File
@@ -710,7 +710,7 @@ 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_button);
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) {
if (calling_reason != arm_disarm_reason_t::stick_gesture) {
mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
events::send(events::ID("commander_disarm_denied_not_landed"),
src/modules/commander/Commander.hpp
-1
View File
@@ -337,7 +337,6 @@ private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_prflt,
(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_HLDL_LOSS_T>) _param_com_hldl_loss_t,
(ParamBool<px4::params::COM_HOME_EN>) _param_com_home_en,
src/modules/commander/commander_params.yaml
-12
View File
@@ -139,18 +139,6 @@ parameters:
1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
type: boolean
default: 0
COM_DISARM_MAN:
description:
short: Allow disarming in manual thrust modes
long: |-
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
type: boolean
default: 1
COM_LOW_BAT_ACT:
description:
short: Battery failsafe mode