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commander: use arm_disarm() helper for safety button disarm

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Daniel Agar
2020-01-20 13:19:32 -05:00
committed by Lorenz Meier
parent 624fcc3adb
commit 4f868fc565
1 changed files with 1 additions and 4 deletions
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5
src/modules/commander/Commander.cpp
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@@ -1434,10 +1434,7 @@ Commander::run()
if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF) if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF)
&& _safety.safety_switch_available && !_safety.safety_off) { && _safety.safety_switch_available && !_safety.safety_off) {
if (TRANSITION_CHANGED == arming_state_transition(&status, _safety, vehicle_status_s::ARMING_STATE_STANDBY, if (TRANSITION_CHANGED == arm_disarm(false, true, &mavlink_log_pub, "Safety button")) {
&armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
&status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp))
) {
_status_changed = true; _status_changed = true;
} }
} }