Use arm_request for manual killing

msg/arm_request.msg

@@ -3,7 +3,9 @@ uint64 timestamp # time since system start (microseconds)
 uint8 action # what action is requested
 uint8 ACTION_DISARM = 0
 uint8 ACTION_ARM = 1
-uint8 ACTION_TOGGLE = 2
+uint8 ACTION_TOGGLE_ARMING = 2
+uint8 ACTION_UNKILL = 3
+uint8 ACTION_KILL = 4
 
 uint8 source # how the request was triggered
 uint8 SOURCE_RC_STICK_GESTURE = 0

src/modules/commander/Commander.cpp

@@ -2468,7 +2468,7 @@ Commander::run()
 
 				case arm_request_s::ACTION_ARM: arm(arm_disarm_reason); break;
 
-				case arm_request_s::ACTION_TOGGLE:
+				case arm_request_s::ACTION_TOGGLE_ARMING:
 					if (_armed.armed) {
 						disarm(arm_disarm_reason);
 
@@ -2476,6 +2476,37 @@ Commander::run()
 						arm(arm_disarm_reason);
 					}
 
+					break;
+
+				case arm_request_s::ACTION_UNKILL:
+					if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && _armed.manual_lockdown) {
+						mavlink_log_info(&_mavlink_log_pub, "Kill-switch disengaged\t");
+						events::send(events::ID("commander_kill_sw_disengaged"), events::Log::Info, "Kill-switch disengaged");
+						_status_changed = true;
+						_armed.manual_lockdown = false;
+					}
+
+					break;
+
+				case arm_request_s::ACTION_KILL:
+					if (arm_disarm_reason == arm_disarm_reason_t::rc_switch && !_armed.manual_lockdown) {
+						const char kill_switch_string[] = "Kill-switch engaged\t";
+						events::LogLevels log_levels{events::Log::Info};
+
+						if (_land_detector.landed) {
+							mavlink_log_info(&_mavlink_log_pub, kill_switch_string);
+
+						} else {
+							mavlink_log_critical(&_mavlink_log_pub, kill_switch_string);
+							log_levels.external = events::Log::Critical;
+						}
+
+						events::send(events::ID("commander_kill_sw_engaged"), log_levels, "Kill-switch engaged");
+
+						_status_changed = true;
+						_armed.manual_lockdown = true;
+					}
+
 					break;
 				}
 			}

src/modules/logger/logged_topics.cpp

@@ -53,6 +53,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("actuator_controls_status_0", 300);
 	add_topic("airspeed", 1000);
 	add_topic("airspeed_validated", 200);
+	add_topic("arm_request");
 	add_topic("autotune_attitude_control_status", 100);
 	add_topic("camera_capture");
 	add_topic("camera_trigger");

src/modules/manual_control/ManualControl.cpp

@@ -165,7 +165,7 @@ void ManualControl::Run()
 						_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
 
 						if (!previous_button_hysteresis && _button_hysteresis.get_state()) {
-							sendArmRequest(arm_request_s::ACTION_TOGGLE, arm_request_s::SOURCE_RC_BUTTON);
+							sendArmRequest(arm_request_s::ACTION_TOGGLE_ARMING, arm_request_s::SOURCE_RC_BUTTON);
 						}
 
 					} else {
@@ -209,10 +209,10 @@ void ManualControl::Run()
 
 					if (switches.kill_switch != _previous_switches.kill_switch) {
 						if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
-							send_termination_command(true);
+							sendArmRequest(arm_request_s::ACTION_KILL, arm_request_s::SOURCE_RC_SWITCH);
 
 						} else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) {
-							send_termination_command(false);
+							sendArmRequest(arm_request_s::ACTION_UNKILL, arm_request_s::SOURCE_RC_SWITCH);
 						}
 					}
 
@@ -469,19 +469,6 @@ void ManualControl::send_offboard_command()
 	command_pub.publish(command);
 }
 
-void ManualControl::send_termination_command(bool should_terminate)
-{
-	vehicle_command_s command{};
-	command.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
-	command.param1 = should_terminate ? 1.0f : 0.0f;
-	command.target_system = _param_mav_sys_id.get();
-	command.target_component = _param_mav_comp_id.get();
-
-	uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
-	command.timestamp = hrt_absolute_time();
-	command_pub.publish(command);
-}
-
 void ManualControl::publish_landing_gear(int8_t action)
 {
 	landing_gear_s landing_gear{};

src/modules/manual_control/ManualControl.hpp

@@ -125,7 +125,6 @@ private:
 	void send_rtl_command();
 	void send_loiter_command();
 	void send_offboard_command();
-	void send_termination_command(bool should_terminate);
 	void publish_landing_gear(int8_t action);
 	void send_vtol_transition_command(uint8_t action);