Press and Hold on Arm will change it to Force Arm

ChangeLog.md

@@ -4,6 +4,7 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.1 - Daily build
 
+* Fly: Press and hold on arm button will change it to Force Arm. Click again to force arm.
 * VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation
 * VTOL: Much better VTOL support throughout QGC
 * Maps: Support zoom up to level 23 even if map provider doesn't provide tiles that high

src/FlightDisplay/GuidedActionsController.qml

@@ -35,6 +35,7 @@ Item {
 
     readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
     readonly property string armTitle:                      qsTr("Arm")
+    readonly property string forceArmTitle:                 qsTr("Force Arm")
     readonly property string disarmTitle:                   qsTr("Disarm")
     readonly property string rtlTitle:                      qsTr("Return")
     readonly property string takeoffTitle:                  qsTr("Takeoff")
@@ -55,6 +56,7 @@ Item {
     readonly property string actionListTitle:               qsTr("Action")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
+    readonly property string forceArmMessage:                   qsTr("WARNING: This will force arming of the vehicle bypassing any safety checks.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
     readonly property string emergencyStopMessage:              qsTr("WARNING: THIS WILL STOP ALL MOTORS. IF VEHICLE IS CURRENTLY IN THE AIR IT WILL CRASH.")
     readonly property string takeoffMessage:                    qsTr("Takeoff from ground and hold position.")
@@ -97,6 +99,7 @@ Item {
     readonly property int actionVtolTransitionToMRFlight:   21
     readonly property int actionROI:                        22
     readonly property int actionActionList:                 23
+    readonly property int actionForceArm:                   24
 
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
     property bool   _enforceChecklist:          _useChecklist && QGroundControl.settingsManager.appSettings.enforceChecklist.rawValue
@@ -104,6 +107,7 @@ Item {
 
     property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
     property bool showArm:              _guidedActionsEnabled && !_vehicleArmed && _canArm
+    property bool showForceArm:         _guidedActionsEnabled && !_vehicleArmed
     property bool showDisarm:           _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
     property bool showRTL:              _guidedActionsEnabled && _vehicleArmed && activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
     property bool showTakeoff:          _guidedActionsEnabled && activeVehicle.takeoffVehicleSupported && !_vehicleFlying && _canArm
@@ -274,6 +278,7 @@ Item {
     Connections {
         target:                             mainWindow
         onArmVehicleRequest:                armVehicleRequest()
+        onForceArmVehicleRequest:           forceArmVehicleRequest()
         onDisarmVehicleRequest:             disarmVehicleRequest()
         onVtolTransitionToFwdFlightRequest: vtolTransitionToFwdFlightRequest()
         onVtolTransitionToMRFlightRequest:  vtolTransitionToMRFlightRequest()
@@ -283,6 +288,10 @@ Item {
         confirmAction(actionArm)
     }
 
+    function forceArmVehicleRequest() {
+        confirmAction(actionForceArm)
+    }
+
     function disarmVehicleRequest() {
         if (showEmergenyStop) {
             confirmAction(actionEmergencyStop)
@@ -325,6 +334,11 @@ Item {
             confirmDialog.message = armMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showArm })
             break;
+        case actionForceArm:
+            confirmDialog.title = forceArmTitle
+            confirmDialog.message = forceArmMessage
+            confirmDialog.hideTrigger = Qt.binding(function() { return !showForceArm })
+            break;
         case actionDisarm:
             if (_vehicleFlying) {
                 return
@@ -480,6 +494,9 @@ Item {
         case actionArm:
             activeVehicle.armed = true
             break
+        case actionForceArm:
+            activeVehicle.forceArm()
+            break
         case actionDisarm:
             activeVehicle.armed = false
             break

src/Vehicle/Vehicle.cc

@@ -2397,6 +2397,15 @@ void Vehicle::setArmed(bool armed)
                    armed ? 1.0f : 0.0f);
 }
 
+void Vehicle::forceArm(void)
+{
+    sendMavCommand(_defaultComponentId,
+                   MAV_CMD_COMPONENT_ARM_DISARM,
+                   true,    // show error if fails
+                   1.0f,    // arm
+                   2989);   // force arm
+}
+
 bool Vehicle::flightModeSetAvailable()
 {
     return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);

src/Vehicle/Vehicle.h

@@ -791,6 +791,7 @@ public:
     Q_INVOKABLE void gimbalPitchStep    (int direction);
     Q_INVOKABLE void gimbalYawStep      (int direction);
     Q_INVOKABLE void centerGimbal       ();
+    Q_INVOKABLE void forceArm           ();
 
     /// Sends PARAM_MAP_RC message to vehicle
     Q_INVOKABLE void sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue);

src/ui/MainRootWindow.qml

@@ -96,6 +96,7 @@ ApplicationWindow {
     //-- Actions
 
     signal armVehicleRequest
+    signal forceArmVehicleRequest
     signal disarmVehicleRequest
     signal vtolTransitionToFwdFlightRequest
     signal vtolTransitionToMRFlightRequest

src/ui/toolbar/MainStatusIndicator.qml

@@ -190,13 +190,23 @@ RowLayout {
 
                 QGCButton {
                     Layout.alignment:   Qt.AlignHCenter
-                    text:               _armed ?  qsTr("Disarm") : qsTr("Arm")
+                    text:               _armed ?  qsTr("Disarm") : (forceArm ? qsTr("Force Arm") : qsTr("Arm"))
+
+                    property bool forceArm: false
+
+                    onPressAndHold: forceArm = true
+
                     onClicked: {
                         if (_armed) {
                             mainWindow.disarmVehicleRequest()
                         } else {
-                            mainWindow.armVehicleRequest()
+                            if (forceArm) {
+                                mainWindow.forceArmVehicleRequest()
+                            } else {
+                                mainWindow.armVehicleRequest()
+                            }
                         }
+                        forceArm = false
                         mainWindow.hideIndicatorPopup()
                     }
                 }