From 4ae97c505ff620eb09a4e48322c4f1f4d8afcca3 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 73d6d64898..4729a1940c 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2912,7 +2912,7 @@ Commander::run() checkWindAndWarn(); } - _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();