{"issue":{"state":"open","created_at":"2011-12-11T22:33:42Z","updated_at":"2011-12-12T11:40:51Z","comments":3,"user":{"gravatar_id":"8d1ecbd5c8b159a3dd9a3cd640d82924","id":17334,"url":"https://api.github.com/users/esden","avatar_url":"https://secure.gravatar.com/avatar/8d1ecbd5c8b159a3dd9a3cd640d82924?d=https://a248.e.akamai.net/assets.github.com%2Fimages%2Fgravatars%2Fgravatar-140.png","login":"esden"},"body":"Context: Using kill switch together with arming sequence.\r\n\r\nIt is currently possible to switch on the motors in kill mode (kill switch off). In kill mode the motors stay in idle throttle but don't switch off completely. Also when running and killed then the motors go down to idle throttle.\r\n\r\nTested with pwm motor controllers.","assignee":{"gravatar_id":"63fafa0c91fcc9585572c812c9c6b0ef","id":452802,"url":"https://api.github.com/users/gautierhattenberger","avatar_url":"https://secure.gravatar.com/avatar/63fafa0c91fcc9585572c812c9c6b0ef?d=https://a248.e.akamai.net/assets.github.com%2Fimages%2Fgravatars%2Fgravatar-140.png","login":"gautierhattenberger"},"id":2518005,"pull_request":{"patch_url":null,"html_url":null,"diff_url":null},"labels":[{"color":"37b6d6","name":"Airborne","url":"https://api.github.com/repos/paparazzi/paparazzi/labels/Airborne"}],"number":102,"title":"Kill switch not working properly","html_url":"https://github.com/paparazzi/paparazzi/issues/102","closed_at":null,"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/102","milestone":null},"action":"created","comment":{"created_at":"2011-12-12T11:40:51Z","updated_at":"2011-12-12T11:40:51Z","user":{"gravatar_id":"17a8aaf6d782b30b3d6011c2e173215b","id":104257,"url":"https://api.github.com/users/flixr","avatar_url":"https://secure.gravatar.com/avatar/17a8aaf6d782b30b3d6011c2e173215b?d=https://a248.e.akamai.net/assets.github.com%2Fimages%2Fgravatars%2Fgravatar-140.png","login":"flixr"},"body":"So, right now kill mode is not actually stopping the motors!?\r\nThen yes, ```autopilot_set_motors_on(FALSE)``` should probably be set anytime the ap goes into KILL_MODE... \r\n\r\n@gautierhattenberger I'm not sure if we should change the semantics of the KILL_SWITCH, it was really meant to be used to go into kill mode and not to arm the motors.\r\n@esden what did you actually want to use the kill switch for?\r\n\r\nIt would probably make more sense to introduce an ARM_SWITCH if you want to use a switch to arm the motors instead of via yaw? And probably some more checks so the motors don't immediately start when the ap gets power and and the arm switch is in \"on\" position. First flick the switch off again before it can be started or something like that. I think Pranay did something like this for the quadshot...\r\n\r\nAlso maybe we want to allow arming of the motors only if the ahrs is already aligned instead of using AUTOPILOT_KILL_WITHOUT_AHRS?","id":3104950,"url":"https://api.github.com/repos/paparazzi/paparazzi/issues/comments/3104950"}}