PR block auto-disarm when in Launch Detection for Hand-Launched FW #13775
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This PR is basically required for any hand launched vehicle that also wants to use the very important auto-disarm safety feature. Thanks! |
…if the vehicle is in a launch detection state, it is possible to trip the auto disarm without ever launching the vehicle. This change allows the commander to determine if the vehicle is in a launch detection state and if so, it will not auto-disarm the vehicle.
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I found a pretty large bug in relation to this PR. If the vehicle is armed without launch detection, the launch detection message remains true, which means that auto-disarm is still blocked. I believe this is due to the new way that I decide whether or not the plane is in launch detection. I am going to restructure this to avoid the issue. FYI @Antiheavy |
…his also makes it more robust to weird states.
Kjkinney
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Fixed the bug and made it more robust, as well as rebased. |
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@MaEtUgR @RomanBapst Could you guys take a look at this updated version? |
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Feedback in #13797 should have been left here, but basically I think this part is workable with a few minor changes. |
| @@ -14,3 +14,5 @@ float32 acceptance_radius # the optimal distance to a waypoint to switch to the | |||
| float32 yaw_acceptance # NaN if not set | |||
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| float32 altitude_acceptance # the optimal vertical distance to a waypoint to switch to the next | |||
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| bool launch_detection_running # true if the launch detection is running | |||
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Thought for later, it might be worth adding all launch detection states here for logging. That would be better than dumping the text messages into the log.
src/modules/commander/Commander.cpp
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| @@ -110,6 +110,7 @@ static struct actuator_armed_s armed = {}; | |||
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| static struct vehicle_status_flags_s status_flags = {}; | |||
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| static struct position_controller_status_s controller_status = {}; //Struct for holding controller status | |||
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| static struct position_controller_status_s controller_status = {}; //Struct for holding controller status |
src/modules/commander/Commander.cpp
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| @@ -1547,9 +1548,12 @@ Commander::run() | |||
| _was_falling = _land_detector.freefall; | |||
| } | |||
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| if (_controller_status_sub.updated()) { | |||
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Move this within the armed.armed conditional and keep a local launch_detection_running bool. The idea is to minimize the work you do (only update when armed) and minimize memory usage (only store the minimum).
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Suggested changes added. I'm not completely sure I put the the launch_detection_running bool in the proper place.
| position_controller_status_s controller_status = {}; | ||
| _controller_status_sub.copy(&controller_status); | ||
| launch_detection_running = controller_status.launch_detection_running; | ||
| } |
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I wonder if we should also update this topic when not armed. That way we can reset the bool flag when disarmed, so it's not stale.
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@Kjkinney If you do it that way I think you could even write
if (armed && ! launch_detection_running) { ... } else { ... }
| @@ -165,7 +165,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro | |||
| uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub; | |||
| uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication | |||
| uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication | |||
| uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication | |||
| uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication | |||
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Where is this needed? I don't see it.
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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Could you rebase? My apologies that this has been sitting in the PR queue for so long. |
If the vehicle is in a launch detection state, it is possible to trip the auto disarm without ever launching the vehicle. This change allows the commander to determine if the vehicle is in a launch detection state and if so, it will not auto-disarm the vehicle.
This is a re-do of #12513 re-based on the current master
This PR has been further tested on our fixed-wing vehicles as well
@Antiheavy