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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-04 14:06:38 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-04 14:06:38 +0200 |
| commit | ee580206b4fd3e79f27db42717987dd414a2a215 (patch) | |
| tree | 6277c26b8f596c39afd1981884541bab01948c95 /src/modules/mavlink | |
| parent | 55cae08cf37c2a67f1ef357f205d2ee5e3208655 (diff) | |
| download | px4-firmware-ee580206b4fd3e79f27db42717987dd414a2a215.tar.gz px4-firmware-ee580206b4fd3e79f27db42717987dd414a2a215.tar.bz2 px4-firmware-ee580206b4fd3e79f27db42717987dd414a2a215.zip | |
mavlink: Only sending HIL control commands if the system is actually armed
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..b538aa28b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status.arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; |