Improvement: fix actuator test on uavcan ESCs that consume ArmingStatus#26255
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Improvement: fix actuator test on uavcan ESCs that consume ArmingStatus#26255
ArmingStatus#26255Conversation
To stay consistent with kill.
dakejahl
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Jan 13, 2026
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Nice clean fix |
Claudio-Chies
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Jan 13, 2026
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Claudio-Chies
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Looks like a sensible approach. Thanks!
TheLukaDragar
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Feb 24, 2026
…tus` (PX4#26255) * uavcan esc: remove unused includes * uavcan arming_status: disarm when terminated To stay consistent with kill. * uavcan: publish armed during actuator tests to make it possible spinning motors
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Solved Problem
When using UAVCAN motors that arm themselves by looking at the vehicles armed state published in the
ArmingStatusDroneCAN message:https://github.com/dronecan/DSDL/blob/04e0e818b06c180eb1720fcdf16484d0f12895ee/uavcan/equipment/safety/1100.ArmingStatus.uavcan#L6-L9
then the motors do not spin when using the actuator test sliders in the QGC Actuators tab at the bottom. This is reportedly and I agree with that report bad user experience because the motors seem to not work in tests without feedback but then turn when arming the vehicle.
Solution
This pull request publishes the vehicle to be armed when an actuator test is running such that the ESCs waiting for armed status can be tested.
Changelog Entry
Alternatives
This could be solved at a more global level where the vehicle is considered armed when testing actuators but I didn't want to open that architectural rabbit hole to fix the user experience.
There is no defined test state, only "fully armed" in the DSDL definition.
Test coverage
I tested this with Vertiq ESCs hooked up over uavcan with the default configuration of enabling motor control only when
ArmingStatus.statusreportsSTATUS_FULLY_ARMED.