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commander: populate prearmed field

This commit is contained in:
Lorenz Meier 2015-07-22 12:42:50 +02:00
parent 7b7ec672b9
commit fb9dcfc4a1
1 changed files with 13 additions and 0 deletions
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13
src/modules/commander/commander.cpp
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@ -2144,6 +2144,19 @@ int commander_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_status), status_pub, &status);
armed.timestamp = now;
/* set prearmed state if safety is off, or safety is not present and 5 seconds passed */
if (safety.safety_switch_available) {
/* safety is off, go into prearmed */
armed.prearmed = safety.safety_off;
} else {
/* safety is not present, go into prearmed
* (all output drivers should be started / unlocked last in the boot process
* when the rest of the system is fully initialized)
*/
armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5 * 1000 * 1000);
}
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}