1 files changed, 27 insertions, 4 deletions

diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index fca1798e6..edeb5c624 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -51,6 +51,8 @@
 #include <fcntl.h>
 #include <systemlib/err.h>
 
+#include <uORB/topics/actuator_armed.h>
+
 __EXPORT int nshterm_main(int argc, char *argv[]);
 
 int
@@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[])
     }
     unsigned retries = 0;
     int fd = -1;
+    int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
+    struct actuator_armed_s armed;
+    /* we assume the system does not provide arming status feedback */
+    bool armed_updated = false;
+
+    /* try the first 30 seconds or if arming system is ready */
+    while ((retries < 300) || armed_updated) {
+
+        /* abort if an arming topic is published and system is armed */
+        bool updated = false;
+        if (orb_check(armed_fd, &updated)) {
+            /* the system is now providing arming status feedback.
+             * instead of timing out, we resort to abort bringing
+             * up the terminal.
+             */
+            armed_updated = true;
+            orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
+
+            if (armed.armed) {
+                /* this is not an error, but we are done */
+                exit(0);
+            }
+        }
 
-    /* try the first 30 seconds */
-    while (retries < 300) {
         /* the retries are to cope with the behaviour of /dev/ttyACM0 */
         /* which may not be ready immediately. */
         fd = open(argv[1], O_RDWR);
@@ -87,7 +110,7 @@ nshterm_main(int argc, char *argv[])
 
     /* Back up the original uart configuration to restore it after exit */
     if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
-        warnx("ERROR get termios config %s: %d\n", argv[1], termios_state);
+        warnx("ERR get config %s: %d\n", argv[1], termios_state);
         close(fd);
         return -1;
     }
@@ -96,7 +119,7 @@ nshterm_main(int argc, char *argv[])
     uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
 
     if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
-        warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]);
+        warnx("ERR set config %s\n", argv[1]);
         close(fd);
         return -1;
     }