Tracker: set armed state in mavlink heartbeat

2016-07-06 11:09:09 +09:00 · 2016-07-06 11:09:09 +09:00 · 50bfd6e7fd
parent a079c7bf4c
commit 50bfd6e7fd
1 changed files with 5 additions and 0 deletions
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@ -55,6 +55,11 @@ void Tracker::send_heartbeat(mavlink_channel_t chan)
        break;
    }

+    // we are armed if safety switch is not disarmed
+    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
+        base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+    }
+
    gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_ANTENNA_TRACKER,
                                            base_mode,
                                            custom_mode,