Safety Switch controlled remotly

Spatz · May 27, 2019, 10:01am

Is there a Mavlink command to control the safety switch remotly?
Or is the only way to change the BRD_SAFETYENABLE parameter?
I know there is a command for dronekit. But I dont know what Mavlink command is used for that.

peterbarker · May 28, 2019, 11:14am

Ish…

github.com

ardupilot/MAVProxy/blob/master/MAVProxy/modules/mavproxy_arm.py#L113


        1, # param1 (1 to indicate arm)
        p2, # param2  (all other params meaningless)
        0, # param3
        0, # param4
        0, # param5
        0, # param6
        0) # param7
    return


if args[0] == "safetyon":
    self.master.mav.set_mode_send(self.target_system,
                                  mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
                                  1)
    return


if args[0] == "safetyoff":
    self.master.mav.set_mode_send(self.target_system,
                                  mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
                                  0)
    return