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AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch

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Francisco Ferreira 2017-04-24 01:48:06 +01:00 committed by Francisco Ferreira
parent e7bd64b7d6
commit 7dca7933fa
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -499,8 +499,7 @@ void PX4RCOutput::_send_outputs(void)
ap_uc->rco_write(_period[i], i);
}
bool armed = hal.util->get_soft_armed();
if (armed) {
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
ap_uc->rco_arm_actuators(true);
} else {
ap_uc->rco_arm_actuators(false);