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commander: auto arm/disarm by offboard thrust "feature" removed

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This commit is contained in:
Anton Babushkin
2014-02-17 18:07:12 +04:00
parent 172c82c258
commit 3b270fbdab
1 changed files with 0 additions and 20 deletions
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src/modules/commander/commander.cpp
-20
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@@ -1295,26 +1295,6 @@ int commander_thread_main(int argc, char *argv[])
status.offboard_control_signal_lost = false;
if (status.main_state == MAIN_STATE_OFFBOARD) {
if (sp_offboard.armed && !armed.armed) {
if (!safety.safety_switch_available || safety.safety_off) {
transition_result_t res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
if (res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by offboard signal");
}
}
} else if (!sp_offboard.armed && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
transition_result_t res = arming_state_transition(&status, &safety, new_arming_state, &armed);
if (res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by offboard signal");
}
}
}
} else {
if (!status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "[cmd[ CRITICAL: OFFBOARD SIGNAL LOST");