From 33a77c225c888848512bce798c51e81f3c930d5a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 20 May 2022 16:26:11 +1200 Subject: [PATCH] commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all. --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 9e3235ca93..4dacd0bdc3 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2929,7 +2929,7 @@ Commander::run() checkWindSpeedThresholds(); } - _status_flags.flight_terminated = _armed.force_failsafe || _armed.lockdown || _armed.manual_lockdown; + _status_flags.flight_terminated = _armed.force_failsafe || _armed.manual_lockdown; /* Get current timestamp */ const hrt_abstime now = hrt_absolute_time();