forked from Archive/PX4-Autopilot
commander: allow arming from RC with safety enabled in HIL mode
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parent
92578e1fc3
commit
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@ -430,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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arming_res = TRANSITION_NOT_CHANGED;
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if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
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if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
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if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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arming_res = TRANSITION_DENIED;
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@ -516,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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transition_result_t arming_res = TRANSITION_NOT_CHANGED;
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if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
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if (safety->safety_switch_available && !safety->safety_off) {
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if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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arming_res = TRANSITION_DENIED;
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@ -1156,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
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if (status.arming_state == ARMING_STATE_STANDBY &&
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sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
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if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
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if (safety.safety_switch_available && !safety.safety_off) {
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if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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} else if (status.main_state != MAIN_STATE_MANUAL) {
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