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simple_offboard: fix checking kill switch state

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This commit is contained in:
Oleg Kalachev
2020-11-12 06:43:46 +03:00
parent 688e4f0ca9
commit 58f6ac4b39
1 changed files with 9 additions and 3 deletions
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12
clover/src/simple_offboard.cpp
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@@ -496,10 +496,16 @@ inline void checkManualControl()
}
if (check_kill_switch) {
const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
const uint8_t SWITCH_POS_ON = 1; // switch activated
const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
const uint8_t SWITCH_POS_OFF = 3; // switch not activated
if (kill_switch)
const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
if (kill_switch == SWITCH_POS_ON)
throw std::runtime_error("Kill switch is on");
}
}