From a0f935916a8d790d7cd6f71b04e479a4144f597d Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Thu, 16 Nov 2017 10:27:18 +0100 Subject: [PATCH] add killswitch (manual_lockdown) to Snapdragon uart ESC --- src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp index 7a4548650e..6f46bb1e03 100644 --- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp +++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp @@ -336,7 +336,7 @@ void task_main(int argc, char *argv[]) _outputs.timestamp = hrt_absolute_time(); int16_t motor_rpms[UART_ESC_MAX_MOTORS]; - if (_armed.armed) { + if (_armed.armed && !_armed.lockdown && !_armed.manual_lockdown) { _outputs.noutputs = mixer->mix(&_outputs.output[0], actuator_controls_s::NUM_ACTUATOR_CONTROLS); // Make sure we support only up to UART_ESC_MAX_MOTORS motors