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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 22:45:54 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 22:45:54 +0400 |
| commit | 8bc0287eccc7871db17c199a3b330e74c92c068a (patch) | |
| tree | 59f2836b7eb4a24d6cb2daa28261a2a25b9e412b /src | |
| parent | 838290fa63cf5592e5c9d7590d0f359f5f81aac3 (diff) | |
| download | px4-firmware-8bc0287eccc7871db17c199a3b330e74c92c068a.tar.gz px4-firmware-8bc0287eccc7871db17c199a3b330e74c92c068a.tar.bz2 px4-firmware-8bc0287eccc7871db17c199a3b330e74c92c068a.zip | |
commander: disarm system when safety enabled
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 6d14472f3..29a930ebb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -902,11 +902,13 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(safety), safety_sub, &safety); - // XXX this would be the right approach to do it, but do we *WANT* this? - // /* disarm if safety is now on and still armed */ - // if (safety.safety_switch_available && !safety.safety_off) { - // (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); - // } + /* disarm if safety is now on and still armed */ + if (safety.safety_switch_available && !safety.safety_off && armed.armed) { + arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { + mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); + } + } } /* update global position estimate */ |