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AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS 

this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
This commit is contained in:
Andrew Tridgell 2021-12-06 13:38:12 +11:00
parent 133e9e43e4
commit 6fc1049439
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -665,7 +665,7 @@ void AP_UAVCAN::safety_state_send()
{ // handle ArmingStatus
uavcan::equipment::safety::ArmingStatus arming_msg;
arming_msg.status = AP::arming().is_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED :
arming_msg.status = hal.util->get_soft_armed() ? uavcan::equipment::safety::ArmingStatus::STATUS_FULLY_ARMED :
uavcan::equipment::safety::ArmingStatus::STATUS_DISARMED;
arming_status[_driver_index]->broadcast(arming_msg);
}