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feat: new setting to allow arming with executor #45

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merged 5 commits into from
Jul 16, 2024
+19 −6
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feat: new setting to allow arming with executor #45

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debe3da
feat: new setting to allow arming with executor
damien-robotsix Jul 5, 2024
04e778c
refactor: use enum instead of multiple flags for activation
damien-robotsix Jul 12, 2024
6e0f539
Update px4_ros2_cpp/test/integration/overrides.cpp
damien-robotsix Jul 15, 2024
9e23b8c
Update px4_ros2_cpp/test/integration/mode_executor.cpp
damien-robotsix Jul 15, 2024
c818a43
format
damien-robotsix Jul 15, 2024
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1 change: 1 addition & 0 deletions px4_ros2_cpp/include/px4_ros2/components/mode_executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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};

enum class DeactivateReason
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2 changes: 1 addition & 1 deletion px4_ros2_cpp/src/components/mode_executor.cpp
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Expand Up @@ -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;
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