From c9f64aeea8aa549a1031785c8ec0134057c8ac05 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Sat, 2 Nov 2024 09:39:44 -0800
Subject: [PATCH] cannode: safety_button: fix compatibility with Ardupilot
 (#23876)

---
 src/drivers/uavcannode/Publishers/SafetyButton.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/drivers/uavcannode/Publishers/SafetyButton.hpp b/src/drivers/uavcannode/Publishers/SafetyButton.hpp
index 136cd27c45f7..4634acc887fd 100644
--- 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);
 			}
 		}