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Merge branch 'offboard2' of https://github.com/DrTon/Firmware into offboard2

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This commit is contained in:
Diogo Machado
2014-02-18 11:12:16 +00:00
parent 9c20f86899 2a49175b1f
commit de48605b7b
2 changed files with 8 additions and 6 deletions
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src/modules/commander/commander.cpp
+7 -5
View File
@@ -908,11 +908,13 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(safety), safety_sub, &safety);
// XXX this would be the right approach to do it, but do we *WANT* this?
// /* disarm if safety is now on and still armed */
// if (safety.safety_switch_available && !safety.safety_off) {
// (void)arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
// }
/* disarm if safety is now on and still armed */
if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
}
}
}
/* update global position estimate */
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -262,7 +262,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_actuators_0_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw att control"))
_loop_perf(perf_alloc(PC_ELAPSED, "mc att control"))
{
memset(&_v_att, 0, sizeof(_v_att));