From 8bc0287eccc7871db17c199a3b330e74c92c068a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 17 Feb 2014 22:45:54 +0400 Subject: commander: disarm system when safety enabled --- src/modules/commander/commander.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) (limited to 'src') 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 */ -- cgit v1.2.3