feat: new setting to allow arming with executor

Auterion · Jul 5, 2024 · debe3da · debe3da
1 parent 1ae6a38
commit debe3da
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/px4_ros2_cpp/include/px4_ros2/components/mode_executor.hpp b/px4_ros2_cpp/include/px4_ros2/components/mode_executor.hpp
@@ -35,6 +35,7 @@ class ModeExecutorBase
   struct Settings
   {
     bool activate_immediately{false};             ///< If set activate the mode (and executor) immediately. Only use this for fully autonomous executors that also arm the vehicle
+    bool is_allowed_to_arm{false};                ///< If set, the executor is allowed to arm the vehicle
   };
 
   enum class DeactivateReason

diff --git a/px4_ros2_cpp/src/components/mode_executor.cpp b/px4_ros2_cpp/src/components/mode_executor.cpp
@@ -291,7 +291,7 @@ void ModeExecutorBase::vehicleStatusUpdated(const px4_msgs::msg::VehicleStatus::
   _is_armed = msg->arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED;
   const bool wants_to_activate_immediately = _settings.activate_immediately && _was_never_activated;
   const bool is_in_charge = id() == msg->executor_in_charge &&
-    (_is_armed || wants_to_activate_immediately);
+    (_is_armed || wants_to_activate_immediately || _settings.is_allowed_to_arm);
   const bool changed_to_armed = !was_armed && _is_armed;
 
   bool got_activated = false;