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commander: immediately publish kill switch state change

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Beat Küng
2018-04-06 11:00:11 +02:00
committed by Lorenz Meier
parent d025eb0da0
commit f1f72c70e0
1 changed files with 4 additions and 2 deletions
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src/modules/commander/commander.cpp
+4 -2
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@@ -2483,13 +2483,15 @@ Commander::run()
/* set lockdown flag */ /* set lockdown flag */
if (!armed.manual_lockdown) { if (!armed.manual_lockdown) {
mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH ENGAGED"); mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH ENGAGED");
status_changed = true;
armed.manual_lockdown = true;
} }
armed.manual_lockdown = true;
} else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) { } else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
if (armed.manual_lockdown) { if (armed.manual_lockdown) {
mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH OFF"); mavlink_log_emergency(&mavlink_log_pub, "MANUAL KILL SWITCH OFF");
status_changed = true;
armed.manual_lockdown = false;
} }
armed.manual_lockdown = false;
} }
/* no else case: do not change lockdown flag in unconfigured case */ /* no else case: do not change lockdown flag in unconfigured case */
} else { } else {