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IO safety button: cleanup disabling safety

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This commit is contained in:
Matthias Grob
2021-02-04 05:04:56 +01:00
committed by Lorenz Meier
parent 3fbd008c4e
commit 3ab4213314
1 changed files with 8 additions and 32 deletions
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src/modules/px4iofirmware/safety.c
+8 -32
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@@ -75,8 +75,6 @@ static unsigned blink_counter = 0;
*/
#define ARM_COUNTER_THRESHOLD 10
static bool safety_button_pressed;
static void safety_check_button(void *arg);
static void failsafe_blink(void *arg);
@@ -97,46 +95,24 @@ failsafe_led_init(void)
static void
safety_check_button(void *arg)
{
/*
* Debounce the safety button, change state if it has been held for long enough.
*
*/
safety_button_pressed = BUTTON_SAFETY;
const bool safety_button_pressed = BUTTON_SAFETY;
/*
* Keep pressed for a while to disable safety.
/* Keep safety button pressed for one second to turn off safety
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
* Note that safety cannot be turned on again by button because a button
* hardware problem could accidentally disable it in flight.
*/
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
if (counter < ARM_COUNTER_THRESHOLD) {
if (counter <= ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* switch to safety off state - the system still needs to be
* fully armed by the operator
*/
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
counter++;
}
} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* we are not switching out of the armed state
* as a stuck button could cause this during
* normal operation. The system needs to be
* disarmed by software
*/
counter++;
if (counter == ARM_COUNTER_THRESHOLD) {
// switch safety off -> ready to arm state
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
}
} else {