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commander: disarm system when safety enabled

This commit is contained in:
Anton Babushkin 2014-02-17 22:45:54 +04:00
parent 838290fa63
commit 8bc0287ecc
1 changed files with 7 additions and 5 deletions
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12
src/modules/commander/commander.cpp
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@ -902,11 +902,13 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(safety), safety_sub, &safety);
// XXX this would be the right approach to do it, but do we *WANT* this?
// /* disarm if safety is now on and still armed */
// if (safety.safety_switch_available && !safety.safety_off) {
// (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
// }
/* disarm if safety is now on and still armed */
if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
}
}
}
/* update global position estimate */