From 035ccc8395da72f2571f82ce28f9091b5e310ff9 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 20 Feb 2026 16:44:16 +0100 Subject: [PATCH] FailureDetector: disarm again with ESC failures during spoolup --- src/modules/commander/failure_detector/FailureDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 5270367929..8aa6df16bf 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -83,7 +83,7 @@ void FailureDetector::publishStatus() failure_detector_status.fd_pitch = _failure_detector_status.flags.pitch; failure_detector_status.fd_alt = _failure_detector_status.flags.alt; failure_detector_status.fd_ext = _failure_detector_status.flags.ext; - failure_detector_status.fd_arm_escs = _health_and_arming_checks.getEscArmStatus(); + failure_detector_status.fd_arm_escs = _health_and_arming_checks.getEscArmStatus() || (_health_and_arming_checks.getMotorFailureMask() != 0); failure_detector_status.fd_battery = _failure_detector_status.flags.battery; failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop; failure_detector_status.fd_motor = (_health_and_arming_checks.getMotorFailureMask() != 0) || (_failure_injector.getMotorStopMask() != 0);