From 9606527edde1e64f28935a4115bbc3f9d036950a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 6 Dec 2021 13:38:12 +1100 Subject: [PATCH] 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 --- libraries/AP_UAVCAN/AP_UAVCAN.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp index 98e557ba91..c41fb2cc50 100644 --- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp +++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp @@ -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); }