commander: Support enabling and disabling lockdown

src/modules/commander/commander.cpp

@@ -471,6 +471,12 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "lockdown")) {
+
+		if (argc < 3) {
+			usage("not enough arguments, missing [on, off]");
+			return 1;
+		}
+
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
 
 		vehicle_command_s cmd = {};
@@ -478,7 +484,8 @@ int commander_main(int argc, char *argv[])
 		cmd.target_component = status.component_id;
 
 		cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
-		cmd.param1 = 2.0f; /* lockdown */
+		/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
+		cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
 
 		// XXX inspect use of publication handle
 		(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
@@ -809,12 +816,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				armed_local->force_failsafe = true;
 				warnx("forcing failsafe (termination)");
 
-			} else {
-				armed_local->force_failsafe = false;
-				armed_local->lockdown = false;
-				warnx("disabling failsafe (termination)");
-			}
-
 				/* param2 is currently used for other failsafe modes */
 				status_local->engine_failure_cmd = false;
 				status_local->data_link_lost_cmd = false;
@@ -852,7 +853,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 					warnx("vtol transition failure mode commanded");
 				}
 
-
+			} else {
+				armed_local->force_failsafe = false;
+				armed_local->lockdown = false;
+				warnx("disabling failsafe and lockdown");
+			}
 
 			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 		}