fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 18:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

uavcan: esc: fix actuator test on uavcan ESCs that consume ArmingStatus (#26255)

Browse Source 
* uavcan esc: remove unused includes

* uavcan arming_status: disarm when terminated

To stay consistent with kill.

* uavcan: publish armed during actuator tests to make it possible spinning motors
This commit is contained in:
Matthias Grob
2026-01-13 10:57:54 -09:00
committed by GitHub
parent 46d9b14ba0
commit 473ef5fd06
7 changed files with 13 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan/arming_status.cpp
+2 -3
View File
@@ -66,10 +66,9 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
if (_actuator_armed_sub.update(&actuator_armed)) {
uavcan::equipment::safety::ArmingStatus cmd;
if (actuator_armed.lockdown || actuator_armed.kill) {
cmd.status = cmd.STATUS_DISARMED;
bool lockdown_active = actuator_armed.lockdown || actuator_armed.termination || actuator_armed.kill;
} else if (actuator_armed.armed) {
if (!lockdown_active && (actuator_armed.armed || _is_actuator_test_running)) {
cmd.status = cmd.STATUS_FULLY_ARMED;
} else {