diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 11 |
1 files changed, 5 insertions, 6 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 28a3eb917..d728b7b76 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -728,12 +728,11 @@ PX4IO::io_set_arming_state() } else { clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } - // TODO fix this -// if (armed.ready_to_arm) { -// set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; -// } else { -// clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; -// } + if (safety.ready_to_arm) { + set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; + } if (vstatus.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; |