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Better, platform independent failsafe handling

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Lorenz Meier
2012-11-09 16:30:00 +01:00
parent a866fb2f2c
commit 0baca3ee31
2 changed files with 20 additions and 7 deletions
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apps/commander/state_machine_helper.c
+2 -5
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@@ -220,11 +220,8 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
void publish_armed_status(const struct vehicle_status_s *current_status) {
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
/* lock down actuators if required */
// XXX FIXME Currently any loss of RC will completely disable all actuators
// needs proper failsafe
armed.lockdown = ((current_status->rc_signal_lost && current_status->offboard_control_signal_lost)
|| current_status->flag_hil_enabled) ? true : false;
/* lock down actuators if required, only in HIL */
armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}