cannode: safety_button: fix compatibility with Ardupilot (PX4#23876)

oravla5 · Nov 2, 2024 · c9f64ae · c9f64ae
1 parent 9d33f8f
commit c9f64ae
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/drivers/uavcannode/Publishers/SafetyButton.hpp b/src/drivers/uavcannode/Publishers/SafetyButton.hpp
@@ -75,7 +75,8 @@ class SafetyButton :
 			if (safety_button.triggered) {
 				ardupilot::indication::Button Button{};
 				Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
-				Button.press_time = UINT8_MAX;
+				// NOTE: Ardupilot checks that the press time is exactly 10, PX4 checks >= 10
+				Button.press_time = 10;
 				uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
 			}
 		}