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feat(control_allocator): allow control surface check while armed

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cleanup: remove the _requires_armed state variable which is just a
function of the other state variables, replace with determining isThrust
inline
This commit is contained in:
Balduin
2026-05-07 13:45:57 +02:00
parent 7c5dfaa824
commit 889cb39195
2 changed files with 9 additions and 14 deletions
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src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
+9 -13
View File
@@ -88,12 +88,8 @@ const char *ActuatorGroupPreflightCheck::validateCommand(uint8_t group, bool is_
} else {
if (actuator_armed.armed) {
return "armed";
}
if (!actuator_armed.prearmed) {
return "not prearmed";
if (!actuator_armed.prearmed && !actuator_armed.armed) {
return "not (pre)armed";
}
}
@@ -141,7 +137,6 @@ void ActuatorGroupPreflightCheck::handleCommand(hrt_abstime now, bool is_tiltrot
const float min_input = group == vehicle_command_s::ACTUATOR_TEST_GROUP_COLLECTIVE_TILT ? 0.f : -1.f;
_group = group;
_requires_armed = isThrust(group);
_input = math::constrain(vehicle_command.param2, min_input, 1.f);
_started = now;
_started_nav_state = vehicle_status.nav_state;
@@ -164,14 +159,15 @@ void ActuatorGroupPreflightCheck::updateState(hrt_abstime now)
&& _vehicle_land_detected_sub.copy(&vehicle_land_detected)
&& _vehicle_status_sub.copy(&vehicle_status)) {
// Cancel if any of the conditions we depended on at start are lost
// (thrust -> armed, torque/tilt -> pre-armed, always !landed),
// or when the nav_state changes (safety measure).
const bool armed_lost = actuator_armed.armed != _requires_armed;
const bool prearmed_lost = !_requires_armed && !actuator_armed.prearmed;
// Cancel if any of the conditions we depend on are lost (thrust -> armed,
// torque/tilt -> pre-armed or armed, always !landed), or when nav_state
// changes (safety measure).
const bool is_thrust = isThrust(_group);
const bool armed_requirement_lost = is_thrust && !actuator_armed.armed;
const bool prearmed_requirement_lost = !is_thrust && (!actuator_armed.prearmed && !actuator_armed.armed);
const bool nav_state_changed = vehicle_status.nav_state != _started_nav_state;
if (armed_lost || prearmed_lost || !vehicle_land_detected.landed || nav_state_changed) {
if (armed_requirement_lost || prearmed_requirement_lost || !vehicle_land_detected.landed || nav_state_changed) {
_running = false;
sendAck(_last_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_CANCELLED, now);
return;
src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
-1
View File
@@ -109,7 +109,6 @@ private:
// These describe the currently running check, only set when started
uint8_t _group{0};
bool _requires_armed{false};
float _input{0.0f};
hrt_abstime _started{0};
uint8_t _started_nav_state{};