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Commander: start timer for auto disarm after spoolup

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This commit is contained in:
Matthias Grob
2024-12-17 19:28:20 +01:00
parent 2506bd3b5d
commit 5e2848312d
2 changed files with 3 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -2268,7 +2268,8 @@ void Commander::handleAutoDisarm()
_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
} else if (_param_com_disarm_prflt.get() > 0 && !_have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_prflt.get() * 1_s);
_auto_disarm_landed.set_hysteresis_time_from(false,
(_param_com_spoolup_time.get() + _param_com_disarm_prflt.get()) * 1_s);
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
}
src/modules/commander/Commander.hpp
+1 -1
View File
@@ -330,7 +330,6 @@ private:
param_t _param_rc_map_fltmode{PARAM_INVALID};
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,
@@ -347,6 +346,7 @@ private:
(ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t,
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_com_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_com_takeoff_act,
(ParamFloat<px4::params::COM_CPU_MAX>) _param_com_cpu_max