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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 18:07:12 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 18:07:12 +0400 |
| commit | 3b270fbdab60c0fac1c76dff170b0a9b6f494e8d (patch) | |
| tree | 1f61c326080c5d8a4465eaeca8e4f827ef7c5a60 /src | |
| parent | 172c82c258819c6f2d95b85b56c41015f928b282 (diff) | |
| download | px4-firmware-3b270fbdab60c0fac1c76dff170b0a9b6f494e8d.tar.gz px4-firmware-3b270fbdab60c0fac1c76dff170b0a9b6f494e8d.tar.bz2 px4-firmware-3b270fbdab60c0fac1c76dff170b0a9b6f494e8d.zip | |
commander: auto arm/disarm by offboard thrust "feature" removed
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 20 |
1 files changed, 0 insertions, 20 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 1ef872e39..4a69318c9 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1295,26 +1295,6 @@ int commander_thread_main(int argc, char *argv[]) status.offboard_control_signal_lost = false; - if (status.main_state == MAIN_STATE_OFFBOARD) { - if (sp_offboard.armed && !armed.armed) { - if (!safety.safety_switch_available || safety.safety_off) { - transition_result_t res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); - - if (res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by offboard signal"); - } - } - - } else if (!sp_offboard.armed && armed.armed) { - arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - transition_result_t res = arming_state_transition(&status, &safety, new_arming_state, &armed); - - if (res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] DISARMED by offboard signal"); - } - } - } - } else { if (!status.offboard_control_signal_lost) { mavlink_log_critical(mavlink_fd, "[cmd[ CRITICAL: OFFBOARD SIGNAL LOST"); |