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AP_Arming: Allow disarming to force the safety switch

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Michael du Breuil 2018-12-30 01:46:22 -07:00 committed by Andrew Tridgell
parent ba49e9e17c
commit c4ff1f4307
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -731,6 +731,14 @@ bool AP_Arming::disarm()
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed"); gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
#if HAL_HAVE_SAFETY_SWITCH
AP_BoardConfig *board_cfg = AP_BoardConfig::get_instance();
if ((board_cfg != nullptr) &&
(board_cfg->get_safety_button_options() & AP_BoardConfig::BOARD_SAFETY_OPTION_SAFETY_ON_DISARM)) {
hal.rcout->force_safety_on();
}
#endif // HAL_HAVE_SAFETY_SWITCH
//TODO: Log motor disarming to the dataflash //TODO: Log motor disarming to the dataflash
//Can't do this from this class until there is a unified logging library. //Can't do this from this class until there is a unified logging library.