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cannode prearm by default enable on ArmingStatus

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- ArmingStatus DroneCAN message STATUS field is only set to true based on
arming_status.armed

- Cannode prearm state is set to true always when ArmingStatus DroneCan
message is received
This commit is contained in:
henrykotze 2023-05-08 21:41:47 +02:00 committed by Daniel Agar
parent db18a94382
commit fab58ee2bc
2 changed files with 2 additions and 1 deletions
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2
src/drivers/uavcan/arming_status.cpp
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@ -69,7 +69,7 @@ void UavcanArmingStatus::periodic_update(const uavcan::TimerEvent &)
if (actuator_armed.lockdown || actuator_armed.manual_lockdown) {
cmd.status = cmd.STATUS_DISARMED;
} else if (actuator_armed.armed || actuator_armed.prearmed) {
} else if (actuator_armed.armed) {
cmd.status = cmd.STATUS_FULLY_ARMED;
} else {

1
src/drivers/uavcannode/Subscribers/ArmingStatus.hpp
View File

@ -89,6 +89,7 @@ private:
actuator_armed.armed = false;
}
actuator_armed.prearmed = true;
actuator_armed.timestamp = hrt_absolute_time();
_actuator_armed_pub.publish(actuator_armed);
}