diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-12 20:05:20 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-12 20:05:20 +0200 |
| commit | 79f9b61aff0570d1ab98dc5a4c7e6a71eec5009b (patch) | |
| tree | 91d06ca05e76d2c286687e04a236a567584c9f80 /src/modules/commander/state_machine_helper.c | |
| parent | 0c43da3b6424dbc877c464b6898f18fe650c703f (diff) | |
| download | px4-firmware-79f9b61aff0570d1ab98dc5a4c7e6a71eec5009b.tar.gz px4-firmware-79f9b61aff0570d1ab98dc5a4c7e6a71eec5009b.tar.bz2 px4-firmware-79f9b61aff0570d1ab98dc5a4c7e6a71eec5009b.zip | |
Fixed led patterns to be up to the latest specs
Diffstat (limited to 'src/modules/commander/state_machine_helper.c')
| -rw-r--r-- | src/modules/commander/state_machine_helper.c | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index bea388a10..ab728c7bb 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status) { struct actuator_armed_s armed; armed.armed = current_status->flag_system_armed; + + /* XXX allow arming by external components on multicopters only if not yet armed by RC */ + /* XXX allow arming only if core sensors are ok */ + armed.ready_to_arm = true; + /* lock down actuators if required, only in HIL */ armed.lockdown = (current_status->flag_hil_enabled) ? true : false; orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); |