Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 22:58:10 +08:00
Code Issues Actions 15 Packages Projects Releases Wiki Activity

bebop 2 disable motors on kill (#10605)

Browse Source
This commit is contained in:
Bart Slinger
2018-09-30 17:40:51 +02:00
committed by Daniel Agar
parent b83cb79596
commit 9530b6c24d
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+5 -3
View File
@@ -432,14 +432,16 @@ void task_main(int argc, char *argv[])
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
const bool lockdown = _armed.manual_lockdown || _armed.lockdown;
// Start the motors if armed but not alreay running
if (_armed.armed && !_motors_running) {
if (_armed.armed && !lockdown && !_motors_running) {
g_dev->start_motors();
_motors_running = true;
}
// Stop motors if not armed but running
if (!_armed.armed && _motors_running) {
// Stop motors if not armed or killed, but running
if ((!_armed.armed || lockdown) && _motors_running) {
g_dev->stop_motors();
_motors_running = false;
}