pre arm check: add circuit breaker for the VTOL arming in fixed-wing mode prevention

Added a new circuit breaker that, if set, enables arming in fixed-wing mode for VTOLs.

Signed-off-by: Silvan Fuhrer <[email protected]>

Author: sfuhrer

msg/vehicle_status_flags.msg

@@ -21,6 +21,7 @@ bool circuit_breaker_engaged_enginefailure_check
 bool circuit_breaker_flight_termination_disabled
 bool circuit_breaker_engaged_usb_check
 bool circuit_breaker_engaged_posfailure_check	# set to true when the position valid checks have been disabled
+bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in fixed-wing mode should be allowed
 
 bool offboard_control_signal_found_once
 bool offboard_control_signal_lost

src/lib/circuit_breaker/circuit_breaker.h

@@ -57,6 +57,7 @@
 #define CBRK_ENGINEFAIL_KEY	284953
 #define CBRK_USB_CHK_KEY	197848
 #define CBRK_VELPOSERR_KEY	201607
+#define CBRK_VTOLARMING_KEY	159753
 
 #include <stdint.h>
 

src/lib/circuit_breaker/circuit_breaker_params.c

@@ -176,3 +176,18 @@ PARAM_DEFINE_INT32(CBRK_USB_CHK, 0);
  * @group Circuit Breaker
  */
 PARAM_DEFINE_INT32(CBRK_VELPOSERR, 0);
+
+/**
+ * Circuit breaker for arming in fixed-wing mode check
+ *
+ * Setting this parameter to 159753 will enable arming in fixed-wing
+ * mode for VTOLs.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 159753
+ * @category Developer
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_VTOLARMING, 0);

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -134,7 +134,8 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		}
 	}
 
-	if (status.is_vtol && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+	if (!status_flags.circuit_breaker_vtol_fw_arming_check && status.is_vtol
+	    && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		if (prearm_ok) {
 			mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
 			prearm_ok = false;

src/modules/commander/Commander.cpp

@@ -2340,6 +2340,8 @@ Commander::get_circuit_breaker_params()
 			CBRK_FLIGHTTERM_KEY);
 	status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(),
 			CBRK_VELPOSERR_KEY);
+	status_flags.circuit_breaker_vtol_fw_arming_check = circuit_breaker_enabled_by_val(_param_cbrk_vtolarming.get(),
+			CBRK_VTOLARMING_KEY);
 }
 
 void

src/modules/commander/Commander.hpp

@@ -243,6 +243,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 		(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
 		(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
 		(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
+		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
 
 		// Geofrence
 		(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,