AP_BoardConfig: added BRD_SAFETYOPTION parameter

allow control of safety button behaviour

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -82,6 +82,12 @@
 #define HAL_IMU_TEMP_DEFAULT       -1 // disabled
 #endif
 
+#if AP_FEATURE_SAFETY_BUTTON
+#ifndef BOARD_SAFETY_OPTION_DEFAULT
+#define BOARD_SAFETY_OPTION_DEFAULT (BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)
+#endif
+#endif
+
 extern const AP_HAL::HAL& hal;
 AP_BoardConfig *AP_BoardConfig::instance;
 
@@ -197,6 +203,15 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_SUBGROUPINFO(param_helper, "", 12, AP_BoardConfig, AP_Param_Helper),
 #endif
 
+#if AP_FEATURE_SAFETY_BUTTON
+    // @Param: SAFETYOPTION
+    // @DisplayName: Options for safety button behavior
+    // @Description: This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
+    // @Bitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenDisarmed
+    // @User: Standard
+    AP_GROUPINFO("SAFETYOPTION",   13, AP_BoardConfig, state.safety_option, BOARD_SAFETY_OPTION_DEFAULT),
+#endif
+    
     AP_GROUPEND
 };
 

libraries/AP_BoardConfig/AP_BoardConfig.h

@@ -46,7 +46,7 @@ public:
     AP_BoardConfig &operator=(const AP_BoardConfig&) = delete;
 
     // singleton support
-    AP_BoardConfig *get_instance(void) {
+    static AP_BoardConfig *get_instance(void) {
         return instance;
     }
     
@@ -125,6 +125,20 @@ public:
 #endif
     }
 
+#if AP_FEATURE_SAFETY_BUTTON
+    enum board_safety_button_option {
+        BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF=1,
+        BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON=2,
+        BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED=4,
+    };
+
+    // return safety button options. Bits are in enum board_safety_button_option
+    uint16_t get_safety_button_options(void) {
+        return uint16_t(state.safety_option.get());
+    }
+#endif
+
+    
 private:
     static AP_BoardConfig *instance;
     
@@ -134,6 +148,7 @@ private:
     struct {
         AP_Int8 pwm_count;
         AP_Int8 safety_enable;
+        AP_Int16 safety_option;
         AP_Int32 ignore_safety_channels;
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
         AP_Int8 ser1_rtscts;