From 8b67f88331a9dc65e5c947da177701317d77f8bd Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 9 Jun 2013 14:12:17 +0200
Subject: Play warning tune

---
 src/modules/commander/state_machine_helper.c | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/modules/commander/state_machine_helper.c')

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();
 				}
 
 			}
-- 
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