Use separate arm_request instead of vehicle_command for RC arming

msg/CMakeLists.txt

@@ -47,6 +47,7 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
+	arm_request.msg
 	autotune_attitude_control_status.msg
 	battery_status.msg
 	camera_capture.msg

msg/arm_request.msg

@@ -0,0 +1,11 @@
+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 source # how the request was triggered
+uint8 SOURCE_RC_STICK_GESTURE = 0
+uint8 SOURCE_RC_SWITCH = 1
+uint8 SOURCE_RC_BUTTON = 2

msg/vehicle_command.msg

@@ -69,7 +69,7 @@ uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260			# Mission command to set a Camera Auto M
 uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal
 
 uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
-uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm|-1 to toggle
+uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
 uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    # Request to send a single instance of the specified message
@@ -151,15 +151,9 @@ uint8 FAILURE_TYPE_DELAYED = 6
 uint8 FAILURE_TYPE_INTERMITTENT = 7
 
 # used as param1 in ARM_DISARM command
-int8 ARMING_ACTION_TOGGLE = -1
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1
 
-# used as param3 in ARM_DISARM command
-int8 ARMING_ORIGIN_GESTURE = 1
-int8 ARMING_ORIGIN_SWITCH = 2
-int8 ARMING_ORIGIN_BUTTON = 3
-
 uint8 ORB_QUEUE_LENGTH = 8
 
 float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.

src/modules/commander/Commander.cpp

@@ -562,7 +562,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 		run_preflight_checks = false;
 	}
 
-	if (run_preflight_checks) {
+	if (run_preflight_checks && !_armed.armed) {
 		if (_vehicle_control_mode.flag_control_manual_enabled) {
 			if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
 			    !_status.rc_signal_lost && _is_throttle_above_center) {
@@ -584,11 +584,21 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 				tune_negative(true);
 				return TRANSITION_DENIED;
 			}
+
+		} else if (calling_reason == arm_disarm_reason_t::rc_stick
+			   || calling_reason == arm_disarm_reason_t::rc_switch
+			   || calling_reason == arm_disarm_reason_t::rc_button) {
+			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t");
+			events::send(events::ID("commander_arm_denied_not_manual"),
+			{events::Log::Critical, events::LogInternal::Info},
+			"Arming denied: switch to manual mode first");
+			tune_negative(true);
+			return TRANSITION_DENIED;
 		}
 
 		if ((_param_geofence_action.get() == geofence_result_s::GF_ACTION_RTL)
 		    && !_status_flags.condition_home_position_valid) {
-			mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Geofence RTL requires valid home\t");
+			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Geofence RTL requires valid home\t");
 			events::send(events::ID("commander_arm_denied_geofence_rtl"),
 			{events::Log::Critical, events::LogInternal::Info},
 			"Arming denied: Geofence RTL requires valid home");
@@ -852,8 +862,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			const int8_t arming_action = static_cast<int8_t>(lroundf(cmd.param1));
 
 			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) {
+			    && arming_action != vehicle_command_s::ARMING_ACTION_DISARM) {
 				mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1);
 				events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error,
 						    "Unsupported ARM_DISARM param: {1:.3}", cmd.param1);
@@ -861,26 +870,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			} else {
 				// Arm is forced (checks skipped) when param2 is set to a magic number.
 				const bool forced = (static_cast<int>(lroundf(cmd.param2)) == 21196);
-
-				const int8_t arming_origin = static_cast<int8_t>(lroundf(cmd.param3));
-
-				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<int>(roundf(cmd.param3)) == 1234);
 
-				if (cmd_from_manual_stick && !_vehicle_control_mode.flag_control_manual_enabled) {
-					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::ARMING_ACTION_DISARM) {
-						mavlink_log_critical(&_mavlink_log_pub, "Not disarming! Switch to a manual mode first");
-					}
-
-					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
-					break;
-				}
-
 				if (!forced) {
 					if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) {
 						if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
@@ -916,53 +907,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				}
 
 				transition_result_t arming_res = TRANSITION_DENIED;
+				arm_disarm_reason_t arm_disarm_reason = cmd.from_external ? arm_disarm_reason_t::command_external :
+									arm_disarm_reason_t::command_internal;
 
 				if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
-					if (cmd.from_external) {
-						arming_res = arm(arm_disarm_reason_t::command_external);
-
-					} else {
-						if (cmd_from_manual_stick) {
-							arming_res = arm(arm_disarm_reason_t::rc_stick);
-
-						} else if (cmd_from_manual_switch) {
-							arming_res = arm(arm_disarm_reason_t::rc_switch);
-
-						} else {
-							arming_res = arm(arm_disarm_reason_t::command_internal, !forced);
-						}
-					}
+					arming_res = arm(arm_disarm_reason, cmd.from_external || !forced);
 
 				} else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) {
-					if (cmd.from_external) {
-						arming_res = disarm(arm_disarm_reason_t::command_external);
-
-					} else {
-						if (cmd_from_manual_stick) {
-							arming_res = disarm(arm_disarm_reason_t::rc_stick);
-
-						} else if (cmd_from_manual_switch) {
-							arming_res = disarm(arm_disarm_reason_t::rc_switch);
-
-						} else {
-							arming_res = disarm(arm_disarm_reason_t::command_internal);
-						}
-					}
-
-				} 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) {
-						if (_armed.armed) {
-							arming_res = disarm(arm_disarm_reason_t::rc_button);
-
-						} else {
-							arming_res = arm(arm_disarm_reason_t::rc_button);
-						}
-
-					} else {
-						PX4_WARN("ARM_DISARM toggle command ignored");
-					}
+					arming_res = disarm(arm_disarm_reason);
 
 				}
 
@@ -2497,6 +2449,38 @@ Commander::run()
 			}
 		}
 
+		while (_arm_request_sub.updated()) {
+			arm_request_s arm_request;
+
+			if (_arm_request_sub.copy(&arm_request)) {
+				arm_disarm_reason_t arm_disarm_reason{};
+
+				switch (arm_request.source) {
+				case arm_request_s::SOURCE_RC_STICK_GESTURE: arm_disarm_reason = arm_disarm_reason_t::rc_stick; break;
+
+				case arm_request_s::SOURCE_RC_SWITCH: arm_disarm_reason = arm_disarm_reason_t::rc_switch; break;
+
+				case arm_request_s::SOURCE_RC_BUTTON: arm_disarm_reason = arm_disarm_reason_t::rc_button; break;
+				}
+
+				switch (arm_request.action) {
+				case arm_request_s::ACTION_DISARM: disarm(arm_disarm_reason); break;
+
+				case arm_request_s::ACTION_ARM: arm(arm_disarm_reason); break;
+
+				case arm_request_s::ACTION_TOGGLE:
+					if (_armed.armed) {
+						disarm(arm_disarm_reason);
+
+					} else {
+						arm(arm_disarm_reason);
+					}
+
+					break;
+				}
+			}
+		}
+
 		/* Check for failure detector status */
 		if (_failure_detector.update(_status, _vehicle_control_mode)) {
 			_status.failure_detector_status = _failure_detector.getStatus().value;

src/modules/commander/Commander.hpp

@@ -61,6 +61,7 @@
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/arm_request.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/cpuload.h>
 #include <uORB/topics/distance_sensor.h>
@@ -389,6 +390,7 @@ private:
 
 	// Subscriptions
 	uORB::Subscription					_actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
+	uORB::Subscription					_arm_request_sub {ORB_ID(arm_request)};
 	uORB::Subscription					_cmd_sub {ORB_ID(vehicle_command)};
 	uORB::Subscription					_cpuload_sub{ORB_ID(cpuload)};
 	uORB::Subscription					_esc_status_sub{ORB_ID(esc_status)};

src/modules/manual_control/ManualControl.cpp

@@ -119,7 +119,7 @@ void ManualControl::Run()
 		_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, _selector.setpoint().timestamp);
 
 		if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
-			send_arm_command(vehicle_command_s::ARMING_ACTION_ARM, vehicle_command_s::ARMING_ORIGIN_GESTURE);
+			sendArmRequest(arm_request_s::ACTION_ARM, arm_request_s::SOURCE_RC_STICK_GESTURE);
 		}
 
 		// Disarm gesture
@@ -130,7 +130,7 @@ void ManualControl::Run()
 		_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, _selector.setpoint().timestamp);
 
 		if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
-			send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM, vehicle_command_s::ARMING_ORIGIN_GESTURE);
+			sendArmRequest(arm_request_s::ACTION_DISARM, arm_request_s::SOURCE_RC_STICK_GESTURE);
 		}
 
 		// User override by stick
@@ -165,20 +165,17 @@ 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()) {
-							send_arm_command(vehicle_command_s::ARMING_ACTION_TOGGLE,
-									 vehicle_command_s::ARMING_ORIGIN_BUTTON);
+							sendArmRequest(arm_request_s::ACTION_TOGGLE, arm_request_s::SOURCE_RC_BUTTON);
 						}
 
 					} else {
 						// Arming switch
 						if (switches.arm_switch != _previous_switches.arm_switch) {
 							if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
-								send_arm_command(vehicle_command_s::ARMING_ACTION_ARM,
-										 vehicle_command_s::ARMING_ORIGIN_SWITCH);
+								sendArmRequest(arm_request_s::ACTION_ARM, arm_request_s::SOURCE_RC_SWITCH);
 
 							} else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) {
-								send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM,
-										 vehicle_command_s::ARMING_ORIGIN_SWITCH);
+								sendArmRequest(arm_request_s::ACTION_DISARM, arm_request_s::SOURCE_RC_SWITCH);
 							}
 						}
 					}
@@ -419,18 +416,13 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
 	command_pub.publish(command);
 }
 
-void ManualControl::send_arm_command(int8_t action, int8_t origin)
+void ManualControl::sendArmRequest(int8_t action, int8_t source)
 {
-	vehicle_command_s command{};
-	command.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
-	command.param1 = static_cast<float>(action);
-	command.param3 = static_cast<float>(origin); // We use param3 to signal the origin.
-	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);
+	arm_request_s arm_request{};
+	arm_request.action = action;
+	arm_request.source = source;
+	arm_request.timestamp = hrt_absolute_time();
+	_arm_request_pub.publish(arm_request);
 }
 
 void ManualControl::send_rtl_command()

src/modules/manual_control/ManualControl.hpp

@@ -40,6 +40,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/perf/perf_counter.h>
+#include <uORB/topics/arm_request.h>
 #include <uORB/topics/manual_control_input.h>
 #include <uORB/topics/manual_control_switches.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -120,7 +121,7 @@ private:
 
 	void evaluate_mode_slot(uint8_t mode_slot);
 	void send_mode_command(int32_t commander_main_state);
-	void send_arm_command(int8_t action, int8_t origin);
+	void sendArmRequest(int8_t action, int8_t source);
 	void send_rtl_command();
 	void send_loiter_command();
 	void send_offboard_command();
@@ -128,6 +129,7 @@ private:
 	void publish_landing_gear(int8_t action);
 	void send_vtol_transition_command(uint8_t action);
 
+	uORB::Publication<arm_request_s> _arm_request_pub{ORB_ID(arm_request)};
 	uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};