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Code Issues Releases Activity

Added forced disarming via systemalarm

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This commit is contained in:
Corvus Corax 2012-05-21 10:40:12 +02:00
parent 9dd94f98b6
commit 6a6eace700
2 changed files with 22 additions and 1 deletions
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21
flight/Modules/ManualControl/manualcontrol.c
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@ -767,6 +767,21 @@ static bool okToArm(void)
return true;
}
/**
* @brief Determine if the aircraft is forced to disarm by an explicit alarm
* @returns True if safe to arm, false otherwise
*/
static bool forcedDisArm(void)
{
// read alarms
SystemAlarmsData alarms;
SystemAlarmsGet(&alarms);
if (alarms.Alarm[SYSTEMALARMS_ALARM_FORCEDISARM] == SYSTEMALARMS_ALARM_CRITICAL) {
return true;
}
return false;
}
/**
* @brief Update the flightStatus object only if value changed. Reduces callbacks
@ -792,6 +807,12 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
bool lowThrottle = cmd->Throttle <= 0;
if (forcedDisArm()) {
// PathPlanner forces explicit disarming due to error condition (crash, impact, fire, ...)
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
return;
}
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);

2
shared/uavobjectdefinition/systemalarms.xml
View File

@ -2,7 +2,7 @@
<object name="SystemAlarms" singleinstance="true" settings="false">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/>
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault,ForceDisarm" defaultvalue="Uninitialised"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>