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add RC kill switch

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This commit is contained in:
Mark Whitehorn
2015-12-18 21:21:51 -07:00
committed by Lorenz Meier
parent c802b86acc
commit 8cb472af31
5 changed files with 64 additions and 5 deletions
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src/modules/commander/commander.cpp
+12
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@@ -2284,6 +2284,18 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "main state transition denied");
}
/* check throttle kill switch */
int prevLockdown = armed.lockdown;
if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* set lockdown flag */
armed.lockdown = TRUE;
} else {
armed.lockdown = FALSE;
}
if (prevLockdown != armed.lockdown) {
warnx("armed.lockdown: %d\n", armed.lockdown);
}
} else {
if (!status.rc_input_blocked && !status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);