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mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL.

This commit is contained in:
Konrad 2023-05-24 15:53:09 +02:00 committed by Matthias Grob
parent 053d3020b0
commit 3303323971
1 changed files with 2 additions and 1 deletions
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3
src/modules/mavlink/streams/HEARTBEAT.hpp
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@ -122,7 +122,8 @@ private:
}
// system_status overrides
if (actuator_armed.force_failsafe || actuator_armed.lockdown || actuator_armed.manual_lockdown
if (actuator_armed.force_failsafe || (actuator_armed.lockdown
&& vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF) || actuator_armed.manual_lockdown
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
system_status = MAV_STATE_FLIGHT_TERMINATION;