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system: include shutdown lock to BOARD_INDICATE_ARMED_STATE

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BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.

This extends the API to trigger the arming state also while the shutdown
lock is taken.
This commit is contained in:
Beat Küng
2020-10-05 16:53:16 +02:00
parent 908444bd68
commit 274ccaf57c
11 changed files with 135 additions and 17 deletions
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src/modules/commander/Commander.cpp
+3 -4
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@@ -69,6 +69,7 @@
#include <navigator/navigation.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/external_reset_lockout.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
@@ -2502,6 +2503,8 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
px4_indicate_external_reset_lockout(LockoutComponent::Commander, armed.armed);
px4_usleep(COMMANDER_MONITORING_INTERVAL);
}
@@ -2636,10 +2639,6 @@ Commander::control_status_leds(vehicle_status_s *status_local, const actuator_ar
_last_overload = overload;
/* board supports HW armed indicator */
BOARD_INDICATE_ARMED_STATE(actuator_armed->armed);
#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */