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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-03 21:24:59 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-03 21:24:59 +0400 |
| commit | b76e26c5e5f37c4fb086a68e0427d9d297e8d225 (patch) | |
| tree | 28047457b736bc0c48bdca29e62069a8178aa574 /src | |
| parent | 3674aae4a746099a162cbf943311b587cd46822f (diff) | |
| download | px4-firmware-b76e26c5e5f37c4fb086a68e0427d9d297e8d225.tar.gz px4-firmware-b76e26c5e5f37c4fb086a68e0427d9d297e8d225.tar.bz2 px4-firmware-b76e26c5e5f37c4fb086a68e0427d9d297e8d225.zip | |
commander: allow arming with safety enabled in HIL mode
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 483437029..d114a2e5c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -902,7 +902,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(safety), safety_sub, &safety); /* disarm if safety is now on and still armed */ - if (safety.safety_switch_available && !safety.safety_off && armed.armed) { + if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); |