From 11b0242f551dea2c67ae3306737a74ddd8edbe20 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 26 Nov 2012 17:45:11 +0100
Subject: Not arming FMU in HIL mode

---
 apps/drivers/px4fmu/fmu.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'apps/drivers/px4fmu/fmu.cpp')

diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index 3eb4a9ef2..61dd418f8 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -382,8 +382,8 @@ PX4FMU::task_main()
 			/* get new value */
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
-			/* update PWM servo armed status */
-			up_pwm_servo_arm(aa.armed);
+			/* update PWM servo armed status if armed and not locked down */
+			up_pwm_servo_arm(aa.armed && !aa.lockdown);
 		}
 	}
 
-- 
cgit v1.2.3