Add support for bypassing extra arming safety #4623
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fiam
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In order to bypass the checks, users must set the new nav_extra_arming_safety value ALLOW_BYPASS and arm with a switch while holding yaw high. If this is used to arm the craft, the checks are skipped until the next power cycle in order to allow rearming quickly in case of an accidental mid air disarm. Also, the "NAVIGATION IS UNSAFE" OSD message has been replaced with more specific messages which tell the user the exact reason why the navigation system is blocking arming.
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Also, make the check for setting the STATE() flag clearer. Previous implementation was a bit confusing.
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@fiam Will this change still work with code that checks if extra arming safety is enabled? For example:
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@teckel12 Depends on what it checks. |
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@fiam Makes sense. I know at least one place a change will need to made to accommodate this. Can I commit to this branch? |
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No, this is already merged so you need to open a new PR. Which changes do you need? |
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@fiam I believe for CRSF telemetry it will need to check for different values when deciding to show the NOT OK flight mode. |
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In order to bypass the checks, users must set the new
nav_extra_arming_safety value ALLOW_BYPASS and arm with a switch
while holding yaw high. If this is used to arm the craft, the checks
are skipped until the next power cycle in order to allow rearming quickly
in case of an accidental mid air disarm.
Also, the "NAVIGATION IS UNSAFE" OSD message has been replaced
with more specific messages which tell the user the exact reason
why the navigation system is blocking arming.