From f1f72c70e000fb444e98bf562d5a88fc9f4f7109 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 6 Apr 2018 11:00:11 +0200
Subject: [PATCH] commander: immediately publish kill switch state change
---
src/modules/commander/commander.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bd2cc8f702..adf1e998a7 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2483,13 +2483,15 @@ Commander::run()
/* set lockdown flag */
if (!armed.manual_lockdown) {
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) {
if (armed.manual_lockdown) {
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 */
} else {
--
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