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FailureDetector: disarm again with ESC failures during spoolup

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Matthias Grob
2026-02-20 16:44:16 +01:00
parent 7d84911668
commit 035ccc8395
1 changed files with 1 additions and 1 deletions
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2
src/modules/commander/failure_detector/FailureDetector.cpp
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@@ -83,7 +83,7 @@ void FailureDetector::publishStatus()
failure_detector_status.fd_pitch = _failure_detector_status.flags.pitch;
failure_detector_status.fd_alt = _failure_detector_status.flags.alt;
failure_detector_status.fd_ext = _failure_detector_status.flags.ext;
failure_detector_status.fd_arm_escs = _health_and_arming_checks.getEscArmStatus();
failure_detector_status.fd_arm_escs = _health_and_arming_checks.getEscArmStatus() || (_health_and_arming_checks.getMotorFailureMask() != 0);
failure_detector_status.fd_battery = _failure_detector_status.flags.battery;
failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop;
failure_detector_status.fd_motor = (_health_and_arming_checks.getMotorFailureMask() != 0) || (_failure_injector.getMotorStopMask() != 0);