From 37f2076d3b1186a871cc03d551e8a8e00c19f5a8 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Tue, 15 Sep 2026 14:30:29 +0800
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---
 project/paint_robot_new/paint_robot_new.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 236c8f1..55d9fc5 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -262,8 +262,9 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
 			}
 
-			// 急停
-			if (g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000)
+			// 急停或者遥控器失联
+			if ((g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000)
+			 || g_stMK32.IsOnline == 0 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
 			{
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
@@ -526,6 +527,7 @@ void Custom_Task(void *argument)
         if ((int32_t)(uiNowTick - uiLastSendTick) >= IV_SEND_TIME)
         {
             uiLastSendTick = uiNowTick;
+            g_stIV.SBUS_State = g_stMK32.IsOnline;
             MsgCenter_SendTo(MODULE_NAME_SENDIV, SENDIV_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
         }
     }