Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 

this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
This commit is contained in:
Andrew Tridgell 2021-12-06 13:30:28 +11:00
parent bedacac816
commit 5afe055a46
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_UAVCAN/AP_UAVCAN.cpp
View File

@ -784,7 +784,7 @@ void AP_UAVCAN::safety_state_send()
{ // handle ArmingStatus { // handle ArmingStatus
uavcan::equipment::safety::ArmingStatus arming_msg; uavcan::equipment::safety::ArmingStatus arming_msg;
arming_msg.status = AP::arming().is_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED : arming_msg.status = hal.util->get_soft_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED :
uavcan::equipment::safety::ArmingStatus::STATUS_DISARMED; uavcan::equipment::safety::ArmingStatus::STATUS_DISARMED;
arming_status[_driver_index]->broadcast(arming_msg); arming_status[_driver_index]->broadcast(arming_msg);
} }