From f485b60f570bc80ba465339624c127a0eaf852b4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 17 Jan 2016 13:44:18 +0100 Subject: [PATCH] Kill switch: Fix logic to only trigger on on/off state of switch, not on/undefined. Remove debug output. --- src/modules/commander/commander.cpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e2d202e9d0..19562ccb6e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2285,16 +2285,13 @@ int commander_thread_main(int argc, char *argv[]) } /* check throttle kill switch */ - int prevLockdown = armed.lockdown; if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) { /* set lockdown flag */ - armed.lockdown = TRUE; - } else { - armed.lockdown = FALSE; - } - if (prevLockdown != armed.lockdown) { - warnx("armed.lockdown: %d\n", armed.lockdown); + armed.lockdown = true; + } else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) { + armed.lockdown = false; } + /* no else case: do not change lockdown flag in unconfigured case */ } else { if (!status.rc_input_blocked && !status.rc_signal_lost) {