From 22a65f6c1d82c7c9d737082cbed5569c740733d9 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Thu, 13 Sep 2018 09:41:40 -0700 Subject: [PATCH] fmu:Fix Safety switch breakage from bc9c25a The update check is on ORB_ID(safety) but the copy was from ORB_ID(actuator_armed). --- src/drivers/px4fmu/fmu.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index e5d89bd931..ffbdab582f 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1284,7 +1284,7 @@ PX4FMU::cycle() if (updated) { safety_s safety; - if (orb_copy(ORB_ID(actuator_armed), _safety_sub, &safety) == 0) { + if (orb_copy(ORB_ID(safety), _safety_sub, &safety) == 0) { _safety_off = !safety.safety_switch_available || safety.safety_off; } }