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Commander: remove HIL_STATE_ON from arming lockdown

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Removing this from the boolean allows users to send pwm values in SIH.
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mahima-yoga
2025-08-22 09:29:54 +02:00
committed by Mahima Yoga
parent 4a5eabb61e
commit dd09cdf986
1 changed files with 1 additions and 2 deletions
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src/modules/commander/Commander.cpp
+1 -2
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@@ -1895,8 +1895,7 @@ void Commander::run()
_actuator_armed.armed = isArmed();
_actuator_armed.prearmed = getPrearmState();
_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
|| _multicopter_throw_launch.isThrowLaunchInProgress());
_actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress();
// _actuator_armed.kill // action_request_s::ACTION_KILL
_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION