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Fix (dis)arm reason enumeration #25766

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Fix (dis)arm reason enumeration #25766

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2d9a981
Commander: add asserts for the match of arm_disarm_reason enums of ev…
MaEtUgR Oct 15, 2025
f64f444
Update (dis)arm reason enum accross uORB, events, Commander
MaEtUgR Oct 15, 2025
9f4b9c6
Commander: remove auto disarm by lockdown
MaEtUgR Oct 15, 2025
89825b1
Commander: add message to each static_assert
MaEtUgR Oct 15, 2025
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14 changes: 5 additions & 9 deletions msg/versioned/VehicleStatus.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -13,20 +13,16 @@ uint8 ARMING_STATE_ARMED = 2

uint8 latest_arming_reason
uint8 latest_disarming_reason
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
uint8 ARM_DISARM_REASON_MISSION_START = 5
uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
uint8 ARM_DISARM_REASON_LANDING = 6
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14

uint64 nav_state_timestamp # time when current nav_state activated

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30 changes: 5 additions & 25 deletions src/lib/events/enums.json
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Original file line number Diff line number Diff line change
Expand Up @@ -442,13 +442,9 @@
"type": "uint8_t",
"description": "Reason for arming/disarming",
"entries": {
"0": {
"name": "transition_to_standby",
"description": "Transition to standby"
},
"1": {
"name": "stick_gesture",
"description": "Stick gesture"
"description": "stick gesture"
},
"2": {
"name": "rc_switch",
Expand All @@ -467,36 +463,20 @@
"description": "mission start"
},
"6": {
"name": "auto_disarm_land",
"name": "landing",
"description": "landing"
},
"7": {
"name": "auto_disarm_preflight",
"description": "auto preflight disarming"
"name": "preflight_inaction",
"description": "preflight inaction"
},
"8": {
"name": "kill_switch",
"description": "kill switch"
},
"9": {
"name": "lockdown",
"description": "lockdown"
},
"10": {
"name": "failure_detector",
"description": "failure detector"
},
"11": {
"name": "shutdown",
"description": "shutdown request"
},
"12": {
"name": "unit_test",
"description": "unit tests"
},
"13": {
"name": "rc_button",
"description": "RC (button)"
"description": "RC button"
},
"14": {
"name": "failsafe",
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64 changes: 30 additions & 34 deletions src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -511,10 +511,30 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])

static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
{
switch (calling_reason) {
case arm_disarm_reason_t::transition_to_standby: return "";
static_assert((uint8_t)arm_disarm_reason_t::stick_gesture == vehicle_status_s::ARM_DISARM_REASON_STICK_GESTURE,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::rc_switch == vehicle_status_s::ARM_DISARM_REASON_RC_SWITCH,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::command_internal == vehicle_status_s::ARM_DISARM_REASON_COMMAND_INTERNAL,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::command_external == vehicle_status_s::ARM_DISARM_REASON_COMMAND_EXTERNAL,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::mission_start == vehicle_status_s::ARM_DISARM_REASON_MISSION_START,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::landing == vehicle_status_s::ARM_DISARM_REASON_LANDING,
"(dis)arm enum mismatch");
static_assert(
(uint8_t)arm_disarm_reason_t::preflight_inaction == vehicle_status_s::ARM_DISARM_REASON_PREFLIGHT_INACTION,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::kill_switch == vehicle_status_s::ARM_DISARM_REASON_KILL_SWITCH,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::rc_button == vehicle_status_s::ARM_DISARM_REASON_RC_BUTTON,
"(dis)arm enum mismatch");
static_assert((uint8_t)arm_disarm_reason_t::failsafe == vehicle_status_s::ARM_DISARM_REASON_FAILSAFE,
"(dis)arm enum mismatch");

case arm_disarm_reason_t::stick_gesture: return "Stick gesture";
switch (calling_reason) {
case arm_disarm_reason_t::stick_gesture: return "stick gesture";

case arm_disarm_reason_t::rc_switch: return "RC switch";

Expand All @@ -524,21 +544,13 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r

case arm_disarm_reason_t::mission_start: return "mission start";

case arm_disarm_reason_t::auto_disarm_land: return "landing";
case arm_disarm_reason_t::landing: return "landing";

case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
case arm_disarm_reason_t::preflight_inaction: return "auto preflight disarming";

case arm_disarm_reason_t::kill_switch: return "kill-switch";

case arm_disarm_reason_t::lockdown: return "lockdown";

case arm_disarm_reason_t::failure_detector: return "failure detector";

case arm_disarm_reason_t::shutdown: return "shutdown request";

case arm_disarm_reason_t::unit_test: return "unit tests";

case arm_disarm_reason_t::rc_button: return "RC (button)";
case arm_disarm_reason_t::rc_button: return "RC button";

case arm_disarm_reason_t::failsafe: return "failsafe";
}
Expand Down Expand Up @@ -2299,35 +2311,19 @@ void Commander::handleAutoDisarm()

if (_auto_disarm_landed.get_state() && !_multicopter_throw_launch.isThrowLaunchInProgress()) {
if (_have_taken_off_since_arming) {
disarm(arm_disarm_reason_t::auto_disarm_land);
disarm(arm_disarm_reason_t::landing);

} else {
disarm(arm_disarm_reason_t::auto_disarm_preflight);
disarm(arm_disarm_reason_t::preflight_inaction);
}
}
}

// Auto disarm after 5 seconds if kill switch is engaged
bool auto_disarm = _actuator_armed.kill;

// auto disarm if locked down to avoid user confusion
// skipped in HITL where lockdown is enabled for safety
if (_vehicle_status.hil_state != vehicle_status_s::HIL_STATE_ON) {
auto_disarm |= _actuator_armed.lockdown;
}

//don't disarm if throw launch is in progress
auto_disarm &= !_multicopter_throw_launch.isThrowLaunchInProgress();

_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
_auto_disarm_killed.set_state_and_update(_actuator_armed.kill, hrt_absolute_time());

if (_auto_disarm_killed.get_state()) {
if (_actuator_armed.kill) {
disarm(arm_disarm_reason_t::kill_switch, true);

} else {
disarm(arm_disarm_reason_t::lockdown, true);
}
disarm(arm_disarm_reason_t::kill_switch, true);
}

} else {
Expand Down
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