From 46b7d6e53650e3a341790bb208f2946775847f15 Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Thu, 5 Jun 2025 08:43:54 +0800
Subject: [PATCH] Auto commit at 2025-06-05 08:43:54

---
 src/ctrl_arbiter/src/ctrl_arbiter.cpp | 2 +-
 src/mc/src/mc.cpp                     | 4 ++--
 src/radio_ctrl/src/radio_ctrl.cpp     | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/ctrl_arbiter/src/ctrl_arbiter.cpp b/src/ctrl_arbiter/src/ctrl_arbiter.cpp
index 89a8123..11785b6 100644
--- a/src/ctrl_arbiter/src/ctrl_arbiter.cpp
+++ b/src/ctrl_arbiter/src/ctrl_arbiter.cpp
@@ -74,7 +74,7 @@ private:
 
         // 所有控制源均失联，发布安全默认指令
         mc::msg::McCtrl safe_msg;
-        safe_msg.mcu_enabled = false;
+        safe_msg.mcu_enabled = true;
         safe_msg.brake = 1;
         safe_msg.gear = 0;
         safe_msg.rpm = 0;
diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index d3c3668..6225885 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -67,7 +67,7 @@ mc::msg::McCtrl get_safe_control()
   if (!control_cache.get(msg))
   {
     // 超时或未接收到控制数据，进入安全状态
-    msg.mcu_enabled = false;
+    msg.mcu_enabled = true;
     msg.brake = 1;
     msg.gear = 0;
     msg.rpm = 0;
@@ -142,7 +142,7 @@ void receiveHandler(const CANFrame &frame, void *userData)
 
       // 立即更新控制缓存，强制进入安全状态
       mc::msg::McCtrl safe_msg;
-      safe_msg.mcu_enabled = false;
+      safe_msg.mcu_enabled = true;
       safe_msg.brake = 1;
       safe_msg.gear = 0;
       safe_msg.rpm = 0;
diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 287c3ea..75aef9b 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -157,7 +157,7 @@ private:
             }
             else // 未使能状态，发送安全默认控制指令
             {
-                msg.mcu_enabled = false;
+                msg.mcu_enabled = true;
                 msg.brake = 1;
                 msg.gear = 0;
                 msg.rpm = 0;