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Diffstat (limited to 'src/modules/commander/state_machine_helper.c')
-rw-r--r--src/modules/commander/state_machine_helper.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index ac603abfd..e18c0edc3 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -49,6 +49,7 @@
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
+#include "commander.h"
static const char *system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
@@ -539,6 +540,9 @@ void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_s
/* safety is in safe position, disallow arming */
if (current_status->flag_safety_safe) {
mavlink_log_critical(mavlink_fd, "DISENGAGE SAFETY BEFORE ARMING!");
+
+ /* play warning tune */
+ tune_error();
}
}