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commander_params: lower COM_DISARM_PRFLT but disable for fixed-wing

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This commit is contained in:
Matthias Grob
2021-04-19 09:51:09 +02:00
parent f9d8c613b0
commit 789d91900d
2 changed files with 8 additions and 8 deletions
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2
ROMFS/px4fmu_common/init.d/rc.fw_defaults
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@@ -16,6 +16,8 @@ param set-default COM_POS_FS_EPV 30
param set-default COM_POS_FS_GAIN 0
param set-default COM_POS_FS_PROB 1
param set-default COM_VEL_FS_EVH 5
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1

14
src/modules/commander/commander_params.c
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@@ -287,21 +287,19 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
/**
* Time-out for auto disarm if too slow to takeoff
* Time-out for auto disarm if not taking off
*
* A non-zero, positive value specifies the time after arming, in seconds, within which the
* vehicle must take off (after which it will automatically disarm).
* A non-zero, positive value specifies the time in seconds, within which the
* vehicle is expected to take off after arming. In case the vehicle didn't takeoff
* within the timout it disamrs again.
*
* This is set to 25 seconds to ensure a system will not disarm if the pilot is not immediately
* taking off, but not so long that a system is completely forgotten about.
*
* A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.
* A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.
*
* @group Commander
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 25.0f);
PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
/**