diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg index f69bacf5c0..d128060a47 100644 --- a/msg/vehicle_command.msg +++ b/msg/vehicle_command.msg @@ -151,14 +151,14 @@ uint8 FAILURE_TYPE_DELAYED = 6 uint8 FAILURE_TYPE_INTERMITTENT = 7 # used as param1 in ARM_DISARM command -int8 ARM_DISARM_ARMING_ACTION_TOGGLE = -1 -int8 ARM_DISARM_ARMING_ACTION_DISARM = 0 -int8 ARM_DISARM_ARMING_ACTION_ARM = 1 +int8 ARMING_ACTION_TOGGLE = -1 +int8 ARMING_ACTION_DISARM = 0 +int8 ARMING_ACTION_ARM = 1 # used as param3 in ARM_DISARM command -int8 ARM_DISARM_ARMING_ORIGIN_GESTURE = 1 -int8 ARM_DISARM_ARMING_ORIGIN_SWITCH = 2 -int8 ARM_DISARM_ARMING_ORIGIN_BUTTON = 3 +int8 ARMING_ORIGIN_GESTURE = 1 +int8 ARMING_ORIGIN_SWITCH = 2 +int8 ARMING_ORIGIN_BUTTON = 3 uint8 ORB_QUEUE_LENGTH = 8 diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index eeb821e56a..661c7f1639 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -275,7 +275,7 @@ int Commander::custom_command(int argc, char *argv[]) } send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, - static_cast(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM), + static_cast(vehicle_command_s::ARMING_ACTION_ARM), param2); return 0; @@ -290,7 +290,7 @@ int Commander::custom_command(int argc, char *argv[]) } send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, - static_cast(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM), + static_cast(vehicle_command_s::ARMING_ACTION_DISARM), param2); return 0; @@ -300,7 +300,7 @@ int Commander::custom_command(int argc, char *argv[]) // switch to takeoff mode and arm send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF); send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, - static_cast(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM), + static_cast(vehicle_command_s::ARMING_ACTION_ARM), 0.f); return 0; @@ -852,9 +852,9 @@ Commander::handle_command(const vehicle_command_s &cmd) // for logic state parameters const int8_t arming_action = static_cast(lroundf(cmd.param1)); - if (arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM - && arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM - && arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE) { + if (arming_action != vehicle_command_s::ARMING_ACTION_ARM + && arming_action != vehicle_command_s::ARMING_ACTION_DISARM + && arming_action != vehicle_command_s::ARMING_ACTION_TOGGLE) { mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1); events::send(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error, "Unsupported ARM_DISARM param: {1:.3}", cmd.param1); @@ -865,16 +865,16 @@ Commander::handle_command(const vehicle_command_s &cmd) const int8_t arming_origin = static_cast(lroundf(cmd.param3)); - const bool cmd_from_manual_stick = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); - const bool cmd_from_manual_switch = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); - const bool cmd_from_manual_button = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_BUTTON); + const bool cmd_from_manual_stick = (arming_origin == vehicle_command_s::ARMING_ORIGIN_GESTURE); + const bool cmd_from_manual_switch = (arming_origin == vehicle_command_s::ARMING_ORIGIN_SWITCH); + const bool cmd_from_manual_button = (arming_origin == vehicle_command_s::ARMING_ORIGIN_BUTTON); const bool cmd_from_io = (static_cast(roundf(cmd.param3)) == 1234); if (cmd_from_manual_stick && !_vehicle_control_mode.flag_control_manual_enabled) { - if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { + if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) { mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first"); - } else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM) { + } else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) { mavlink_log_critical(&_mavlink_log_pub, "Not disarming! Switch to a manual mode first"); } @@ -884,7 +884,7 @@ Commander::handle_command(const vehicle_command_s &cmd) if (!forced) { if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) { - if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { + if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) { if (_armed.armed) { mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed\t"); events::send(events::ID("commander_arming_denied_already_armed"), @@ -911,14 +911,14 @@ Commander::handle_command(const vehicle_command_s &cmd) // Flick to in-air restore first if this comes from an onboard system and from IO if (cmd.source_system == _status.system_id && cmd.source_component == _status.component_id - && cmd_from_io && (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM)) { + && cmd_from_io && (arming_action == vehicle_command_s::ARMING_ACTION_ARM)) { _status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; } } transition_result_t arming_res = TRANSITION_DENIED; - if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { + if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) { if (cmd.from_external) { arming_res = arm(arm_disarm_reason_t::command_external); @@ -934,7 +934,7 @@ Commander::handle_command(const vehicle_command_s &cmd) } } - } else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM) { + } else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) { if (cmd.from_external) { arming_res = disarm(arm_disarm_reason_t::command_external); @@ -950,7 +950,7 @@ Commander::handle_command(const vehicle_command_s &cmd) } } - } else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE) { + } else if (arming_action == vehicle_command_s::ARMING_ACTION_TOGGLE) { // -1 means toggle by a button // This should come from an arming button internally, otherwise something is wrong. if (!cmd.from_external && cmd_from_manual_button) { @@ -974,7 +974,7 @@ Commander::handle_command(const vehicle_command_s &cmd) cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; /* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */ - if ((arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED) && + if ((arming_action == vehicle_command_s::ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED) && (hrt_absolute_time() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) && !_home_pub.get().manual_home) { set_home_position(); diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index 57ad60f032..ad03cea199 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -131,8 +131,8 @@ void ManualControl::Run() if (_selector.setpoint().arm_gesture && !_previous_arm_gesture) { _previous_arm_gesture = true; - send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM, - vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); + send_arm_command(vehicle_command_s::ARMING_ACTION_ARM, + vehicle_command_s::ARMING_ORIGIN_GESTURE); } @@ -142,8 +142,8 @@ void ManualControl::Run() if (_selector.setpoint().disarm_gesture && !_previous_disarm_gesture) { _previous_disarm_gesture = true; - send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM, - vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); + send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM, + vehicle_command_s::ARMING_ORIGIN_GESTURE); } @@ -182,19 +182,19 @@ void ManualControl::Run() _button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now); if (_button_hysteresis.get_state()) { - send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE, - vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_BUTTON); + send_arm_command(vehicle_command_s::ARMING_ACTION_TOGGLE, + vehicle_command_s::ARMING_ORIGIN_BUTTON); } } else { // Arming switch if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) { - send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM, - vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); + send_arm_command(vehicle_command_s::ARMING_ACTION_ARM, + vehicle_command_s::ARMING_ORIGIN_SWITCH); } else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) { - send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM, - vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); + send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM, + vehicle_command_s::ARMING_ORIGIN_SWITCH); } } }