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commander: HITL skip auto disarm if lockdown

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- auto disarm when locked down was added in #14766 to prevent user confusion in regular usage, but also breaks HITL where lockdown is enabled for safety
 - fixes #15686
This commit is contained in:
Daniel Agar
2020-09-06 18:38:05 -04:00
committed by GitHub
parent 3fa9ff6d20
commit 1ac31100cc
1 changed files with 9 additions and 1 deletions
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src/modules/commander/Commander.cpp
+9 -1
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@@ -1679,7 +1679,15 @@ Commander::run()
}
// Auto disarm after 5 seconds if kill switch is engaged
_auto_disarm_killed.set_state_and_update(armed.manual_lockdown || armed.lockdown, hrt_absolute_time());
bool auto_disarm = armed.manual_lockdown;
// auto disarm if locked down to avoid user confusion
// skipped in HITL where lockdown is enabled for safety
if (status.hil_state != vehicle_status_s::HIL_STATE_ON) {
auto_disarm |= armed.lockdown;
}
_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
if (_auto_disarm_killed.get_state()) {
if (armed.manual_lockdown) {