From c7d0feb6256a0ff2ab569bd2bee38024f9eeac75 Mon Sep 17 00:00:00 2001
From: Colton Glick <crglick@iastate.edu>
Date: Wed, 16 Feb 2022 02:06:16 +0000
Subject: [PATCH] Emergency stop disable
---
.../src/modules/src/supervisor.c | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/supervisor.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/supervisor.c
index 03043890e..dc37f8866 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/supervisor.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/supervisor.c
@@ -29,6 +29,7 @@
#include <stdlib.h>
#include "log.h"
+#include "param.h"
#include "motors.h"
#include "pm.h"
#include "stabilizer.h"
@@ -43,6 +44,7 @@
static bool canFly;
static bool isFlying;
static bool isTumbled;
+static bool emergencyStopEnable = 1;
bool supervisorCanFly()
{
@@ -118,7 +120,9 @@ void supervisorUpdate(const sensorData_t *data)
isTumbled = isTumbledCheck(data);
if (isTumbled && isFlying) {
- stabilizerSetEmergencyStop();
+ if(emergencyStopEnable){
+ stabilizerSetEmergencyStop();
+ }
}
canFly = canFlyCheck();
@@ -141,3 +145,14 @@ LOG_ADD_CORE(LOG_UINT8, isFlying, &isFlying)
*/
LOG_ADD_CORE(LOG_UINT8, isTumbled, &isTumbled)
LOG_GROUP_STOP(sys)
+
+PARAM_GROUP_START(sys)
+
+/**
+ * @brief If 1 (default) enables the emergency stop when the crazyflie is tumbling,
+ * if 0 disables emergency stop (used for testing purposes)
+ *
+ */
+PARAM_ADD(PARAM_TYPE_INT, e_stop, &emergencyStopEnable)
+
+PARAM_GROUP_STOP(sys)
--
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