ArmingStatus set to Armed based on actuator_armed.armed #21563
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julianoes
previously approved these changes
May 17, 2023
- ArmingStatus DroneCAN message STATUS field is only set to true based on arming_status.armed - Cannode prearm state is set to true always when ArmingStatus DroneCan message is received
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Fixed Formatting and rebased |
julianoes
approved these changes
May 18, 2023
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-community-q-a-may-31-2023/32396/2 |
dagar
approved these changes
May 31, 2023
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Previously, the DroneCAN message
uavcan::equipment::safety::ArmingStatus::statuswas set to STATUS_FULLY_ARMED if we were prearmed or armed. This would result in actuators being able to actuate such as ESC's even if the arm switch on the transmitter were on the disarm position, because the FMU entered prearmed.This change sets
uavcan::equipment::safety::ArmingStatus::statusto STATUS_FULLY_ARMED if actuator_armed::armed is true.On the cannode side, we hardcode prearm to true on receiving the uavcan::equipment::safety::ArmingStatus message, to allow servos/lights and other devices to be controlled in a disarmed state.