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Commander: add parameter to disallow disarming in manual thrust modes

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This commit is contained in:
Matthias Grob
2021-10-25 18:52:17 +02:00
committed by Mathieu Bresciani
parent 78987f6016
commit ead16d0e6c
3 changed files with 15 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -631,7 +631,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
|| (calling_reason == arm_disarm_reason_t::rc_switch)
|| (calling_reason == arm_disarm_reason_t::rc_button);
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) {
if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
if (calling_reason != arm_disarm_reason_t::rc_stick) {
mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
events::send(events::ID("commander_disarm_denied_not_landed"),