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commander: HITL skip auto disarm if lockdown #15690

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merged 1 commit into from
Sep 6, 2020
Merged

commander: HITL skip auto disarm if lockdown #15690

merged 1 commit into from
Sep 6, 2020

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dagar
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@dagar dagar commented Sep 6, 2020

I'd actually like to purge most of these HITL special cases in commander, but not today.

@dagar dagar added bug Sim: HITL hardware in the loop simulation labels Sep 6, 2020
@dagar dagar mentioned this pull request Sep 6, 2020
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dagar commented Sep 6, 2020

@bperseghetti

@dagar dagar requested a review from julianoes September 6, 2020 13:32
@dagar dagar force-pushed the pr-commander_auto_disarm_hil branch from fa247e6 to 1e42171 Compare September 6, 2020 13:33
@dagar
commander: HITL skip auto disarm if lockdown
99b8d42 
 - auto disarm when locked down was added in #14766 to prevent user
confusion in regular usage, but also breaks HITL where lockdown is
enabled for safety
 - fixes #15686
@dagar dagar force-pushed the pr-commander_auto_disarm_hil branch from 1e42171 to 99b8d42 Compare September 6, 2020 13:33
bperseghetti
bperseghetti reviewed Sep 6, 2020
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@dagar PR tested with fmu-v5_default, QGC daily, F710 controller, modified iris.sdf for HITL in Gazebo, SYS_AUTOSTART=1001 and it succeeded in eliminating issue with disarm on lockdown, allowing for over 10 minute flight test in HITL Gazebo.

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TSC21 commented Sep 6, 2020

@dagar can you rebase now that the fix for Nuttx in MacOS is in?

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dagar commented Sep 6, 2020

This works for now, but again I'd really like to cut down on the HITL special cases.

@dagar dagar merged commit 1ac3110 into master Sep 6, 2020
@dagar dagar deleted the pr-commander_auto_disarm_hil branch September 6, 2020 22:38
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@bperseghetti bperseghetti bperseghetti left review comments

@TSC21 TSC21 TSC21 approved these changes

@julianoes julianoes Awaiting requested review from julianoes

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In HIL mode, motor will be disarmed after 10s even if disable the auto disarmed function on the QGC
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@dagar @TSC21 @bperseghetti