From a20152a393202f6dcb84c38d2e0995fb16b356e8 Mon Sep 17 00:00:00 2001 From: David Mokel Date: Sun, 3 Aug 2025 15:44:36 +0800 Subject: [PATCH] feat(esc-panel):when sendsafety and sendarming unchecked, broadcast reverse data --- dronecan_gui_tool/panels/esc_panel.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/dronecan_gui_tool/panels/esc_panel.py b/dronecan_gui_tool/panels/esc_panel.py index 4cec913..ce2118d 100644 --- a/dronecan_gui_tool/panels/esc_panel.py +++ b/dronecan_gui_tool/panels/esc_panel.py @@ -294,10 +294,18 @@ def _do_broadcast(self): msg = dronecan.ardupilot.indication.SafetyState() msg.status = msg.STATUS_SAFETY_OFF self._node.broadcast(msg) + else: + msg = dronecan.ardupilot.indication.SafetyState() + msg.status = msg.STATUS_SAFETY_ON + self._node.broadcast(msg) if self._arming_enable.checkState(): msg = dronecan.uavcan.equipment.safety.ArmingStatus() msg.status = msg.STATUS_FULLY_ARMED self._node.broadcast(msg) + else: + msg = dronecan.uavcan.equipment.safety.ArmingStatus() + msg.status = msg.STATUS_DISARMED + self._node.broadcast(msg) msg = dronecan.uavcan.equipment.esc.RawCommand() for sl in self._sliders: raw_value = sl.get_value() / 100