3 files changed, 30 insertions, 27 deletions

diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..264041e65 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -331,7 +331,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			/* for now only spin if armed and immediately shut down
 			 * if in failsafe
 			 */
-			if (armed.armed && !armed.lockdown) {
+			//XXX fix this
+			//if (armed.armed && !armed.lockdown) {
+			if (state.flag_fmu_armed) {
 				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
 
 			} else {
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 3fabfd9a5..7a64b72a4 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -530,7 +530,7 @@ BlinkM::led()
 				} else {
 					/* no battery warnings here */
 
-					if(vehicle_status_raw.flag_system_armed == false) {
+					if(vehicle_status_raw.flag_fmu_armed == false) {
 						/* system not armed */
 						led_color_1 = LED_RED;
 						led_color_2 = LED_RED;
@@ -555,26 +555,27 @@ BlinkM::led()
 						led_blink = LED_BLINK;
 
 						/* handle 4th led - flightmode indicator */
-						switch((int)vehicle_status_raw.flight_mode) {
-							case VEHICLE_FLIGHT_MODE_MANUAL:
-								led_color_4 = LED_AMBER;
-								break;
-
-							case VEHICLE_FLIGHT_MODE_STAB:
-								led_color_4 = LED_YELLOW;
-								break;
-
-							case VEHICLE_FLIGHT_MODE_HOLD:
-								led_color_4 = LED_BLUE;
-								break;
-
-							case VEHICLE_FLIGHT_MODE_AUTO:
-								led_color_4 = LED_GREEN;
-								break;
-						}
+#warning fix this
+//						switch((int)vehicle_status_raw.flight_mode) {
+//							case VEHICLE_FLIGHT_MODE_MANUAL:
+//								led_color_4 = LED_AMBER;
+//								break;
+//
+//							case VEHICLE_FLIGHT_MODE_STAB:
+//								led_color_4 = LED_YELLOW;
+//								break;
+//
+//							case VEHICLE_FLIGHT_MODE_HOLD:
+//								led_color_4 = LED_BLUE;
+//								break;
+//
+//							case VEHICLE_FLIGHT_MODE_AUTO:
+//								led_color_4 = LED_GREEN;
+//								break;
+//						}
 
 						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
-							/* handling used sat´s */
+							/* handling used sat�s */
 							if(num_of_used_sats >= 7) {
 								led_color_1 = LED_OFF;
 								led_color_2 = LED_OFF;
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index a40142792..399c003b7 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -492,7 +492,7 @@ PX4IO::init()
 			}
 
 		/* keep waiting for state change for 10 s */
-		} while (!status.flag_system_armed);
+		} while (!status.flag_fmu_armed);
 
 	/* regular boot, no in-air restart, init IO */
 	} else {
@@ -706,12 +706,12 @@ PX4IO::io_set_arming_state()
 	} else {
 		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	}
-
-	if (armed.ready_to_arm) {
-		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
-	}
+	// 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 (vstatus.flag_external_manual_override_ok) {
 		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;