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Esc Panel: when sendsafety and sendarming unchecked #97

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Esc Panel: when sendsafety and sendarming unchecked #97

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8 changes: 8 additions & 0 deletions dronecan_gui_tool/panels/esc_panel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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