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Kill switch: Fix logic to only trigger on on/off state of switch, not on/undefined. Remove debug output.

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Lorenz Meier
2016-01-17 13:44:18 +01:00
parent cb2c8a1390
commit f485b60f57
1 changed files with 4 additions and 7 deletions
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src/modules/commander/commander.cpp
+4 -7
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@@ -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) {