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Safety: keep initialized constant flags when safety disabled

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This commit is contained in:
Matthias Grob
2022-06-07 18:21:56 +02:00
committed by Igor Mišić
parent 44c4b8fa85
commit 71103e6114
1 changed files with 6 additions and 6 deletions
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src/modules/commander/Safety.cpp
+6 -6
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@@ -44,16 +44,16 @@ Safety::Safety()
{ {
// Safety can be turned off with the CBRK_IO_SAFETY parameter. // Safety can be turned off with the CBRK_IO_SAFETY parameter.
_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY); _safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
if (_safety_disabled) {
_button_available = true;
_safety_off = true;
}
} }
bool Safety::safetyButtonHandler() bool Safety::safetyButtonHandler()
{ {
if (_safety_disabled) { if (!_safety_disabled) {
_button_available = true;
_safety_off = true;
} else {
if (!_button_available && _safety_button_sub.advertised()) { if (!_button_available && _safety_button_sub.advertised()) {
_button_available = true; _button_available = true;
} }