From 15fe925974130fe476b6c9323ae4a683a92656ad Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 22 May 2015 16:46:16 +0900
Subject: [PATCH] Copter: allow forcing disarm via mavlink using magic number

Based on change by Jon Challinger but using new is_equal function
---
 ArduCopter/GCS_Mavlink.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 803415d189..1b76648223 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1223,7 +1223,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 if (init_arm_motors(true)) {
                     result = MAV_RESULT_ACCEPTED;
                 }
-            } else if (is_zero(packet.param1) && (mode_has_manual_throttle(control_mode) || ap.land_complete))  {
+            } else if (is_zero(packet.param1) && (mode_has_manual_throttle(control_mode) || ap.land_complete || is_equal(packet.param2,21196.0f)))  {
                 init_disarm_motors();
                 result = MAV_RESULT_ACCEPTED;
             } else {