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Commander: only trigger MAVLink parachute on termination

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This can now be tested using the new termination RC switch.
This commit is contained in:
Matthias Grob
2025-07-18 19:40:53 +02:00
parent 52e8a0a0db
commit 6c5c88f72e
1 changed files with 3 additions and 7 deletions
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src/modules/commander/Commander.cpp
+3 -7
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@@ -1907,13 +1907,9 @@ void Commander::run()
_actuator_armed.force_failsafe = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION
// if force_failsafe or manual_lockdown activated send parachute command
if ((!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe)
|| (!actuator_armed_prev.manual_lockdown && _actuator_armed.manual_lockdown)
) {
if (isArmed()) {
send_parachute_command();
}
// if force_failsafe activated send parachute command
if (!actuator_armed_prev.force_failsafe && _actuator_armed.force_failsafe && isArmed()) {
send_parachute_command();
}
// publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed