From 71103e611459acfe3bc06b9b74d2148383b1e110 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 7 Jun 2022 18:21:56 +0200 Subject: [PATCH] Safety: keep initialized constant flags when safety disabled --- src/modules/commander/Safety.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/commander/Safety.cpp b/src/modules/commander/Safety.cpp index 6cb9bc1809..8abf304535 100644 --- a/src/modules/commander/Safety.cpp +++ b/src/modules/commander/Safety.cpp @@ -44,16 +44,16 @@ Safety::Safety() { // Safety can be turned off with the CBRK_IO_SAFETY parameter. _safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY); + + if (_safety_disabled) { + _button_available = true; + _safety_off = true; + } } bool Safety::safetyButtonHandler() { - if (_safety_disabled) { - _button_available = true; - _safety_off = true; - - } else { - + if (!_safety_disabled) { if (!_button_available && _safety_button_sub.advertised()) { _button_available = true; }