Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time

- fixes https://github.com/PX4/PX4-Autopilot/issues/16393

msg/actuator_armed.msg

@@ -1,6 +1,5 @@
 uint64 timestamp	# time since system start (microseconds)
 
-uint32 armed_time_ms	# Arming timestamp
 bool armed		# Set to true if system is armed
 bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed

msg/vehicle_status.msg

@@ -114,3 +114,7 @@ uint8 ARM_DISARM_REASON_UNIT_TEST = 13
 
 uint8 latest_arming_reason
 uint8 latest_disarming_reason
+
+uint64 armed_time       # Arming timestamp (microseconds)
+
+uint64 takeoff_time     # Takeoff timestamp (microseconds)

src/modules/commander/Commander.cpp

@@ -1718,10 +1718,11 @@ Commander::run()
 			if (_armed.armed) {
 				if (!was_landed && _land_detector.landed) {
 					mavlink_log_info(&_mavlink_log_pub, "Landing detected");
+					_status.takeoff_time = 0;
 
 				} else if (was_landed && !_land_detector.landed) {
 					mavlink_log_info(&_mavlink_log_pub, "Takeoff detected");
-					_time_at_takeoff = hrt_absolute_time();
+					_status.takeoff_time = hrt_absolute_time();
 					_have_taken_off_since_arming = true;
 
 					// Set all position and velocity test probation durations to takeoff value
@@ -2453,10 +2454,8 @@ Commander::run()
 
 			if (_armed.armed) {
 				if (_status.failure_detector_status & vehicle_status_s::FAILURE_ARM_ESC) {
-					const hrt_abstime time_at_arm = _armed.armed_time_ms * 1000;
-
 					// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
-					if (hrt_elapsed_time(&time_at_arm) < 500_ms) {
+					if (hrt_elapsed_time(&_status.armed_time) < 500_ms) {
 						arm_disarm(false, true, arm_disarm_reason_t::FAILURE_DETECTOR);
 						mavlink_log_critical(&_mavlink_log_pub, "ESCs did not respond to arm request");
 					}
@@ -2464,7 +2463,7 @@ Commander::run()
 
 				if (_status.failure_detector_status & (vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH |
 								       vehicle_status_s::FAILURE_ALT | vehicle_status_s::FAILURE_EXT)) {
-					const bool is_second_after_takeoff = hrt_elapsed_time(&_time_at_takeoff) < (1_s * _param_com_lkdown_tko.get());
+					const bool is_second_after_takeoff = hrt_elapsed_time(&_status.takeoff_time) < (1_s * _param_com_lkdown_tko.get());
 
 					if (is_second_after_takeoff && !_lockdown_triggered) {
 						// This handles the case where something fails during the early takeoff phase
@@ -3994,7 +3993,7 @@ void Commander::estimator_check()
 
 			} else {
 				// if nav status is unconfirmed, confirm yaw angle as passed after 30 seconds or achieving 5 m/s of speed
-				const bool sufficient_time = (hrt_elapsed_time(&_time_at_takeoff) > 30_s);
+				const bool sufficient_time = (_status.takeoff_time != 0) && (hrt_elapsed_time(&_status.takeoff_time) > 30_s);
 				const bool sufficient_speed = (lpos.vx * lpos.vx + lpos.vy * lpos.vy > 25.0f);
 
 				bool innovation_pass = estimator_status.vel_test_ratio < 1.0f && estimator_status.pos_test_ratio < 1.0f;

src/modules/commander/Commander.hpp

@@ -311,7 +311,6 @@ private:
 	hrt_abstime	_lvel_probation_time_us = POSVEL_PROBATION_MIN;
 
 	/* class variables used to check for navigation failure after takeoff */
-	hrt_abstime	_time_at_takeoff{0};		/**< last time we were on the ground */
 	hrt_abstime	_time_last_innov_pass{0};	/**< last time velocity or position innovations passed */
 	bool		_nav_test_passed{false};	/**< true if the post takeoff navigation test has passed */
 	bool		_nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */

src/modules/commander/state_machine_helper.cpp

@@ -231,10 +231,10 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
 			}
 
 			if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-				armed->armed_time_ms = hrt_absolute_time() / 1000;
+				status->armed_time = hrt_absolute_time();
 
 			} else {
-				armed->armed_time_ms = 0;
+				status->armed_time = 0;
 			}
 		}
 	}

src/modules/mavlink/streams/FLIGHT_INFORMATION.hpp

@@ -34,7 +34,7 @@
 #ifndef FLIGHT_INFORMATION_HPP
 #define FLIGHT_INFORMATION_HPP
 
-#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/vehicle_status.h>
 
 class MavlinkStreamFlightInformation : public MavlinkStream
 {
@@ -58,26 +58,31 @@ private:
 		_param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
 	}
 
-	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	param_t _param_com_flight_uuid;
+	param_t _param_com_flight_uuid{PARAM_INVALID};
 
 	bool send() override
 	{
-		actuator_armed_s actuator_armed{};
+		vehicle_status_s vehicle_status{};
-		bool ret = _armed_sub.copy(&actuator_armed);
-
-		if (ret && actuator_armed.timestamp != 0) {
-			int32_t flight_uuid;
-			param_get(_param_com_flight_uuid, &flight_uuid);
 
+		if (_vehicle_status_sub.copy(&vehicle_status) && vehicle_status.timestamp != 0) {
 			mavlink_flight_information_t flight_info{};
-			flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
-			flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
 			flight_info.time_boot_ms = hrt_absolute_time() / 1000;
-			mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
+			flight_info.arming_time_utc = vehicle_status.armed_time;
+			flight_info.takeoff_time_utc = vehicle_status.takeoff_time;
+
+			int32_t flight_uuid;
+
+			if (param_get(_param_com_flight_uuid, &flight_uuid) == PX4_OK) {
+				flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
 			}
 
-		return ret;
+			mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
+
+			return true;
+		}
+
+		return false;
 	}
 };