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Commander: fix parachute trigger

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Setting "lockdown" disables the actuators. In this mode,
"force_failsafe" has no effect as the actuators are disabled, so the
parachute is not getting released as it requires the output to change to
its failsafe value.
This commit is contained in:
bresch 2025-02-17 11:42:24 +01:00 committed by Mathieu Bresciani
parent d4509a6cd4
commit 2d1652f499
1 changed files with 1 additions and 2 deletions
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3
src/modules/commander/Commander.cpp
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@ -1889,8 +1889,7 @@ void Commander::run()
_actuator_armed.armed = isArmed();
_actuator_armed.prearmed = getPrearmState();
_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
_actuator_armed.lockdown = ((_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION)
|| (_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| _multicopter_throw_launch.isThrowLaunchInProgress());
// _actuator_armed.manual_lockdown // action_request_s::ACTION_KILL
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);