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bebop 2 disable motors on kill (#10605)

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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
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src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+5 -3
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@@ -432,14 +432,16 @@ void task_main(int argc, char *argv[])
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); 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 // Start the motors if armed but not alreay running
if (_armed.armed && !_motors_running) { if (_armed.armed && !lockdown && !_motors_running) {
g_dev->start_motors(); g_dev->start_motors();
_motors_running = true; _motors_running = true;
} }
// Stop motors if not armed but running // Stop motors if not armed or killed, but running
if (!_armed.armed && _motors_running) { if ((!_armed.armed || lockdown) && _motors_running) {
g_dev->stop_motors(); g_dev->stop_motors();
_motors_running = false; _motors_running = false;
} }