Appearance
Safety Switch
This action allows setting the safety state of the vehicle.
This action also provides feedback based on the state of the vehicle. The icon will be in the highlight colour if the vehicle is in the state that the button commands.
TIP
The feedback for this action requires the SYS_STATUS message, make sure its being streamed from the target vehicle.
Under the hood
Command
MAV_CMD_DO_SET_MODE as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 128.0 | MAV_MODE_FLAG_SAFETY_ARMED |
| param 2 | float | 0.0 or 1.0 | 0.0: Safety Off, 1.0: Safety On |
| param 3 | float | NaN | |
| param 4 | float | NaN | |
| param 5 | float | NaN | |
| param 6 | float | NaN | |
| param 7 | float | NaN |
Feedback
The safety state feedback is from the MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS flag in the onboard_control_sensors_enabled field of the SYS_STATUS message.