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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
| commit | 082074f99196f8c936e21740a84b6738cb87875e (patch) | |
| tree | 92863b8532541d9dcfc8a160a7f659c5e1475b35 /apps/commander/state_machine_helper.c | |
| parent | 572efc3383c6c98769efc65806a6d2e596787c4d (diff) | |
| download | px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.gz px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.bz2 px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.zip | |
Completely implemented offboard control
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index da85d0868..e1d24d6a6 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -223,7 +223,8 @@ void publish_armed_status(const struct vehicle_status_s *current_status) { /* lock down actuators if required */ // XXX FIXME Currently any loss of RC will completely disable all actuators // needs proper failsafe - armed.lockdown = (current_status->rc_signal_lost || current_status->flag_hil_enabled) ? true : false; + armed.lockdown = ((current_status->rc_signal_lost && current_status->offboard_control_signal_lost) + || current_status->flag_hil_enabled) ? true : false; orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); } |