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SITL: act on safety switch being enabled in SITL by zeroing outputs

This commit is contained in:
Peter Barker 2023-07-07 13:27:27 +10:00 committed by Andrew Tridgell
parent 2c9551a25a
commit 6b87318062
2 changed files with 1 additions and 14 deletions
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2
libraries/SITL/SITL.cpp
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@ -240,7 +240,7 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
AP_GROUPINFO("EFI_TYPE", 58, SIM, efi_type, SIM::EFI_TYPE_NONE), AP_GROUPINFO("EFI_TYPE", 58, SIM, efi_type, SIM::EFI_TYPE_NONE),
AP_GROUPINFO("SAFETY_STATE", 59, SIM, _safety_switch_state, 0), // 59 was SAFETY_STATE
// motor harmonics // motor harmonics
AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM, vibe_motor_harmonics, 1), AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM, vibe_motor_harmonics, 1),

13
libraries/SITL/SITL.h
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@ -392,19 +392,6 @@ public:
AP_Float hdg; // 0 to 360 AP_Float hdg; // 0 to 360
} opos; } opos;
AP_Int8 _safety_switch_state;
AP_HAL::Util::safety_state safety_switch_state() const {
return (AP_HAL::Util::safety_state)_safety_switch_state.get();
}
void force_safety_off() {
_safety_switch_state.set((uint8_t)AP_HAL::Util::SAFETY_ARMED);
}
bool force_safety_on() {
_safety_switch_state.set((uint8_t)AP_HAL::Util::SAFETY_DISARMED);
return true;
}
uint16_t irlock_port; uint16_t irlock_port;
time_t start_time_UTC; time_t start_time_UTC;