From 4f868fc5650ad4e50140ca2f0459bbd39083c4f1 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 20 Jan 2020 13:19:32 -0500 Subject: [PATCH] commander: use arm_disarm() helper for safety button disarm --- src/modules/commander/Commander.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index c3ac083558..dd784904fa 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1434,10 +1434,7 @@ Commander::run() if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF) && _safety.safety_switch_available && !_safety.safety_off) { - if (TRANSITION_CHANGED == arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_STANDBY, - &armed, true /* fRunPreArmChecks */, &mavlink_log_pub, - &status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp)) - ) { + if (TRANSITION_CHANGED == arm_disarm(false, true, &mavlink_log_pub, "Safety button")) { _status_changed = true; } }