arm auth: split COM_ARM_AUTH in 3 parameters

new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO

src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp

@@ -43,14 +43,18 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
+using namespace time_literals;
+
 static orb_advert_t *mavlink_log_pub;
 static int command_ack_sub = -1;
 
-static param_t param_arm_parameters;
-
 static hrt_abstime auth_timeout;
 static hrt_abstime auth_req_time;
 
+static hrt_abstime _param_com_arm_auth_timout;
+static enum arm_auth_methods _param_com_arm_auth_method;
+static int32_t _param_com_arm_auth_id;
+
 static enum {
 	ARM_AUTH_IDLE = 0,
 	ARM_AUTH_WAITING_AUTH,
@@ -58,18 +62,6 @@ static enum {
 	ARM_AUTH_MISSION_APPROVED
 } state = ARM_AUTH_IDLE;
 
-union {
-	struct {
-		uint8_t authorizer_system_id;
-		union {
-			uint16_t auth_method_arm_timeout_msec;
-			uint16_t auth_method_two_arm_timeout_msec;
-		} auth_method_param;
-		uint8_t authentication_method;
-	} __attribute__((packed)) struct_value;
-	int32_t param_value;
-} arm_parameters;
-
 static uint8_t *system_id;
 
 static uint8_t _auth_method_arm_req_check();
@@ -80,12 +72,31 @@ static uint8_t (*arm_check_method[ARM_AUTH_METHOD_LAST])() = {
 	_auth_method_two_arm_check,
 };
 
+void arm_auth_param_update()
+{
+	float timeout = 0;
+	param_get(param_find("COM_ARM_AUTH_TO"), &timeout);
+	_param_com_arm_auth_timout = timeout * 1_s;
+
+	int32_t auth_method = ARM_AUTH_METHOD_ARM_REQ;
+	param_get(param_find("COM_ARM_AUTH_MET"), &auth_method);
+
+	if (auth_method >= 0 && auth_method < ARM_AUTH_METHOD_LAST) {
+		_param_com_arm_auth_method = (arm_auth_methods)auth_method;
+
+	} else {
+		_param_com_arm_auth_method = ARM_AUTH_METHOD_ARM_REQ;
+	}
+
+	param_get(param_find("COM_ARM_AUTH_ID"), &_param_com_arm_auth_id);
+}
+
 static void arm_auth_request_msg_send()
 {
 	vehicle_command_s vcmd{};
 	vcmd.timestamp = hrt_absolute_time();
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
-	vcmd.target_system = arm_parameters.struct_value.authorizer_system_id;
+	vcmd.target_system = _param_com_arm_auth_id;
 
 	uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
 	vcmd_pub.publish(vcmd);
@@ -110,7 +121,7 @@ static uint8_t _auth_method_arm_req_check()
 
 	hrt_abstime now = hrt_absolute_time();
 	auth_req_time = now;
-	auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
+	auth_timeout = now + _param_com_arm_auth_timout;
 	state = ARM_AUTH_WAITING_AUTH;
 
 	while (now < auth_timeout) {
@@ -163,7 +174,7 @@ static uint8_t _auth_method_two_arm_check()
 
 	hrt_abstime now = hrt_absolute_time();
 	auth_req_time = now;
-	auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
+	auth_timeout = now + _param_com_arm_auth_timout;
 	state = ARM_AUTH_WAITING_AUTH;
 
 	mavlink_log_info(mavlink_log_pub, "Arm auth: Requesting authorization...");
@@ -173,8 +184,8 @@ static uint8_t _auth_method_two_arm_check()
 
 uint8_t arm_auth_check()
 {
-	if (arm_parameters.struct_value.authentication_method < ARM_AUTH_METHOD_LAST) {
-		return arm_check_method[arm_parameters.struct_value.authentication_method]();
+	if (_param_com_arm_auth_method < ARM_AUTH_METHOD_LAST) {
+		return arm_check_method[_param_com_arm_auth_method]();
 	}
 
 	return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
@@ -183,7 +194,7 @@ uint8_t arm_auth_check()
 void arm_auth_update(hrt_abstime now, bool param_update)
 {
 	if (param_update) {
-		param_get(param_arm_parameters, &arm_parameters.param_value);
+		arm_auth_param_update();
 	}
 
 	switch (state) {
@@ -279,13 +290,8 @@ void arm_auth_update(hrt_abstime now, bool param_update)
 
 void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *sys_id)
 {
+	arm_auth_param_update();
 	system_id = sys_id;
-	param_arm_parameters = param_find("COM_ARM_AUTH");
 	command_ack_sub = orb_subscribe(ORB_ID(vehicle_command_ack));
 	mavlink_log_pub = mav_log_pub;
 }
-
-enum arm_auth_methods arm_auth_method_get()
-{
-	return (enum arm_auth_methods) arm_parameters.struct_value.authentication_method;
-}

src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.h

@@ -47,4 +47,3 @@ enum arm_auth_methods {
 void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *system_id);
 void arm_auth_update(hrt_abstime now, bool param_update = true);
 uint8_t arm_auth_check();
-enum arm_auth_methods arm_auth_method_get();

src/modules/commander/commander_params.c

@@ -680,23 +680,6 @@ PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
  */
 PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
 
-/**
- * Arm authorization parameters, this uint32_t will be split between starting from the LSB:
- * - 8bits to authorizer system id
- * - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
- * - 7bits to authentication method
- * 		- one arm = 0
- * 		- two step arm = 1
- * * the MSB bit is not used to avoid problems in the conversion between int and uint
- *
- * Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010
- * - authorizer system id = 10
- * - authentication method parameter = 1000 msec of timeout
- * - authentication method = during arm
- * @group Commander
- */
-PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
-
 /**
  * Require arm authorization to arm
  *
@@ -707,6 +690,44 @@ PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
  */
 PARAM_DEFINE_INT32(COM_ARM_AUTH_REQ, 0);
 
+/**
+ * Arm authorizer system id
+ *
+ * Used if arm authorization is requested by COM_ARM_AUTH_REQ.
+ *
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_ARM_AUTH_ID, 10);
+
+/**
+ * Arm authorization method
+ *
+ * Methods:
+ * - one arm: request authorization and arm when authorization is received
+ * - two step arm: 1st arm command request an authorization and
+ *                 2nd arm command arm the drone if authorized
+ *
+ * Used if arm authorization is requested by COM_ARM_AUTH_REQ.
+ *
+ * @group Commander
+ * @value 0 one arm
+ * @value 1 two step arm
+ */
+PARAM_DEFINE_INT32(COM_ARM_AUTH_MET, 0);
+
+/**
+ * Arm authorization timeout
+ *
+ * Timeout for authorizer answer.
+ * Used if arm authorization is requested by COM_ARM_AUTH_REQ.
+ *
+ * @group Commander
+ * @unit s
+ * @decimal 1
+ * @increment 0.1
+ */
+PARAM_DEFINE_FLOAT(COM_ARM_AUTH_TO, 1);
+
 /**
  * Loss of position failsafe activation delay.
  *