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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-09 16:30:00 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-09 16:30:00 +0100 |
| commit | 0baca3ee316ca70fd18bf2cd5128685220e57634 (patch) | |
| tree | 2ff24279c864e44289ec2f5e356791b577b1bab2 /apps/commander/state_machine_helper.c | |
| parent | a866fb2f2c3791f0d357a30f1e2ce33f2f984af7 (diff) | |
| download | px4-firmware-0baca3ee316ca70fd18bf2cd5128685220e57634.tar.gz px4-firmware-0baca3ee316ca70fd18bf2cd5128685220e57634.tar.bz2 px4-firmware-0baca3ee316ca70fd18bf2cd5128685220e57634.zip | |
Better, platform independent failsafe handling
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index a64d99cd4..1149f735f 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -220,11 +220,8 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat void publish_armed_status(const struct vehicle_status_s *current_status) { struct actuator_armed_s armed; armed.armed = current_status->flag_system_armed; - /* 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->offboard_control_signal_lost) - || current_status->flag_hil_enabled) ? true : false; + /* lock down actuators if required, only in HIL */ + armed.lockdown = (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); } |