From e9725a5fa77a3afe0f5ef99c8c69b8bb54e944b7 Mon Sep 17 00:00:00 2001
From: garfieldG <garfieldG@users.noreply.github.com>
Date: Wed, 17 Mar 2021 06:23:31 +0200
Subject: [PATCH] Merge pull request #17089 from
 garfieldG/pr-safety_switch_status

send safety switch status to ground
---
 src/modules/commander/Commander.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index d667d162a7..1e8a5c287b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1746,6 +1746,9 @@ Commander::run()
 			const bool previous_safety_off = _safety.safety_off;
 
 			if (_safety_sub.copy(&_safety)) {
+				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.safety_switch_available, _safety.safety_off,
+						 _safety.safety_switch_available, _status);
+
 				// disarm if safety is now on and still armed
 				if (_armed.armed && _safety.safety_switch_available && !_safety.safety_off) {