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Commander: force disabling the arm stick gesture when arm switch is in use

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This commit is contained in:
Matthias Grob
2021-11-23 16:04:37 +01:00
committed by Beat Küng
parent e76dda545c
commit c5fb68b7a1
1 changed files with 20 additions and 1 deletions
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src/modules/commander/Commander.cpp
+20 -1
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@@ -1797,6 +1797,7 @@ Commander::run()
const param_t param_airmode = param_find("MC_AIRMODE");
const param_t param_man_arm_gesture = param_find("MAN_ARM_GESTURE");
const param_t param_rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
/* initialize */
led_init();
@@ -1915,7 +1916,25 @@ Commander::run()
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
// disable arm gesture if an arm switch is configured
if (param_man_arm_gesture != PARAM_INVALID && param_rc_map_arm_sw != PARAM_INVALID) {
int32_t man_arm_gesture = 0, rc_map_arm_sw = 0;
param_get(param_man_arm_gesture, &man_arm_gesture);
param_get(param_rc_map_arm_sw, &rc_map_arm_sw);
if (rc_map_arm_sw > 0 && man_arm_gesture == 1) {
man_arm_gesture = 0; // disable arm gesture
param_set(param_man_arm_gesture, &man_arm_gesture);
mavlink_log_critical(&_mavlink_log_pub, "Arm stick gesture disabled if arm switch in use\t")
/* EVENT
* @description <param>MAN_ARM_GESTURE</param> is now set to disable arm/disarm stick gesture.
*/
events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled},
"Arm stick gesture disabled if arm switch in use");
}
}
// check for unsafe Airmode settings: yaw airmode requires disabling the stick arm gesture
if (param_airmode != PARAM_INVALID && param_man_arm_gesture != PARAM_INVALID) {
int32_t airmode = 0, man_arm_gesture = 0;
param_get(param_airmode, &airmode);