FMU: Implement baseline pairing command on safety button press #12794
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I'll rebase this PR after #10119 goes in. |
| @@ -70,8 +83,11 @@ SafetyButton::CheckButton() | |||
| _button_counter++; | |||
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| } else if (_button_counter == CYCLE_COUNT) { | |||
| // switch to armed state | |||
| _safety_btn_off = true; | |||
| if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO) && !_safety_disabled) { | |||
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The comment above is out of date, please remove or update it.
| _safety_btn_off = true; | ||
| if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO) && !_safety_disabled) { | ||
| // switch to armed state | ||
| _safety_btn_off = true; |
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The comment doesn't match what is done, right?
| // change to disarmed state and notify | ||
| _safety_btn_off = false; | ||
| if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO) && !_safety_disabled) { | ||
| // change to disarmed state and notify |
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Again, the comment doesn't seem right.
| @@ -136,33 +158,45 @@ SafetyButton::Run() | |||
| } | |||
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| // read safety switch input and control safety switch LED at 10Hz | |||
| CheckButton(); | |||
| bool safety_pressed = CheckButton(); | |||
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Comment above seems outdated.
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| uint8_t _button_counter{0}; | ||
| uint8_t _blink_counter{0}; | ||
| bool _safety_disabled{false}; |
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The naming of these variables is getting confusing. What is _safety_disabled versus _safetey_off? This needs to be clear from the names and if not possible from a comment.
| @@ -71,15 +73,17 @@ class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkI | |||
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| private: | |||
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| void CheckButton(); | |||
| bool CheckButton(); | |||
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I would rename this method to isButtonPressed() or hasButtonBeenPressed() to communicate what a true return value means.
dagar
changed the title
bkueng
changed the title
| vehicle_command_s vcmd{}; | ||
| vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR; | ||
| vcmd.timestamp = hrt_absolute_time(); | ||
| vcmd.param1 = 10.f; // GCS pairing request handled by a companion. TODO: requires mavlink spec |
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@MatejFranceskin fyi, you need to check for this and we need to add it to the mavlink spec.
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I brought this into a working state, tested on pixracer and pixhawk 4. |
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@bkueng Should we close this or resurrect it? |
bkueng
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Rebased. Auterion has been using this downstream already since some time. |
This initial implementation requires debouncing and a triple-press implementation. This commit should be squashed with those changes into a single feature commit.