From fb3cb75777e4cffe311f5d19a85e0d1e3fb5150c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 6 Sep 2018 08:25:23 +0900 Subject: [PATCH] Tracker: default BRD_SAFETYOPTION to allow disarming --- AntennaTracker/Parameters.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp index ab4543039b..f122a7f119 100644 --- a/AntennaTracker/Parameters.cpp +++ b/AntennaTracker/Parameters.cpp @@ -403,4 +403,11 @@ void Tracker::load_parameters(void) // Load all auto-loaded EEPROM variables AP_Param::load_all(); hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before)); + +#if HAL_HAVE_SAFETY_SWITCH + // configure safety switch to allow stopping the motors while armed + AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF| + AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON| + AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED); +#endif }