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| author | sjwilks <sjwilks@gmail.com> | 2013-05-13 07:49:19 -0700 |
|---|---|---|
| committer | sjwilks <sjwilks@gmail.com> | 2013-05-13 07:49:19 -0700 |
| commit | 1b9222f43a8b27befaecbd088b5ebeb3f09b8a8e (patch) | |
| tree | 8caf030c279ac64c3d16db76bd7b910dae4d4f93 /src/modules/commander/state_machine_helper.c | |
| parent | f6083964936966d285d2750cc8c3db4940974d06 (diff) | |
| parent | 3ac76c4476038b170c319cfccd4a934363e1aca4 (diff) | |
| download | px4-firmware-1b9222f43a8b27befaecbd088b5ebeb3f09b8a8e.tar.gz px4-firmware-1b9222f43a8b27befaecbd088b5ebeb3f09b8a8e.tar.bz2 px4-firmware-1b9222f43a8b27befaecbd088b5ebeb3f09b8a8e.zip | |
Merge pull request #269 from PX4/new_led_status
New led status
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); |