From dd09cdf9868636819b35a12eab49ca4a027c5d7d Mon Sep 17 00:00:00 2001 From: mahima-yoga Date: Fri, 22 Aug 2025 09:29:54 +0200 Subject: [PATCH] Commander: remove HIL_STATE_ON from arming lockdown Removing this from the boolean allows users to send pwm values in SIH. --- src/modules/commander/Commander.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 764d90f832..0e2c50ec4f 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1895,8 +1895,7 @@ void Commander::run() _actuator_armed.armed = isArmed(); _actuator_armed.prearmed = getPrearmState(); _actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed(); - _actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON) - || _multicopter_throw_launch.isThrowLaunchInProgress()); + _actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress(); // _actuator_armed.kill // action_request_s::ACTION_KILL _actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION); // _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION