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Block arming if takeoff waypoint is inactive and MIS_TKOFF_REQ is set to 1 #13824

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Block arming if takeoff waypoint is inactive and MIS_TKOFF_REQ is set to 1 #13824

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Do not allow arming if the Vehicle does not have the takeoff waypoint…
Kjkinney Dec 30, 2019
b5cb394
Merge branch 'master' into pr-blockarm-tkoffinactive
Kjkinney Jan 7, 2020
1feb5da
This adds a waypoint validity check to the takeoff check
Kjkinney Jan 8, 2020
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19 changes: 19 additions & 0 deletions src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,18 @@

#include <ArmAuthorization.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/position_setpoint_triplet.h>

#include <lib/parameters/param.h>

bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status)
{
bool prearm_ok = true;
int32_t tkoff_check = 0;
param_get(param_find("MIS_TAKEOFF_REQ"), &tkoff_check);

// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
Expand Down Expand Up @@ -143,6 +149,19 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
}

// This requires a valid takeodd waypoint to be set
uORB::Subscription setpoint_sub(ORB_ID(position_setpoint_triplet));
position_setpoint_triplet_s setpoint = {};
setpoint_sub.update(&setpoint);
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I have two concerns here:

  1. The triplet is quite big and hence this needs CPU to copy and RAM to store it.
  2. The flow is generally commander -> navigator but here the commander is subscribing to navigator again to check what it is doing when really navigator should just be executing as told by commander.

Alternatives I see:

  1. Add this check into the mission feasibility checker. So when it checks that the mission is valid it also checks if it is set to the beginning?
  2. Don't start a mission in the controller even if armed if the item is not a takeoff item.

@MaEtUgR do you have other ideas?

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@julianoes How about using the topic mission_result for this? To me this seems to be a topic which navigator uses to report various information regarding the current mission.
Wouldn't it be as simple as checking if mission_result.seq_current == 0?

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Yes, good idea!


if ((setpoint.current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF || !setpoint.current.valid)
&& tkoff_check == 1) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Takeoff not active");
prearm_ok = false;
}




return prearm_ok;
}