diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8129dddb3..6d14472f3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -430,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe arming_res = TRANSITION_NOT_CHANGED; if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) { + if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; @@ -516,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe transition_result_t arming_res = TRANSITION_NOT_CHANGED; if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off) { + if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); arming_res = TRANSITION_DENIED; @@ -1156,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[]) if (status.arming_state == ARMING_STATE_STANDBY && sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - if (safety.safety_switch_available && !safety.safety_off) { + if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); } else if (status.main_state != MAIN_STATE_MANUAL) { |