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Tracker: set armed state in mavlink heartbeat

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This commit is contained in:
Randy Mackay 2016-07-06 11:09:09 +09:00
parent a079c7bf4c
commit 50bfd6e7fd
1 changed files with 5 additions and 0 deletions
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5
AntennaTracker/GCS_Mavlink.cpp
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@ -55,6 +55,11 @@ void Tracker::send_heartbeat(mavlink_channel_t chan)
break; 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, gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_ANTENNA_TRACKER,
base_mode, base_mode,
custom_mode, custom_mode,