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Plane: check for safety switch state in quadplane motor output 

get_soft_armed() will be false if safety on
This commit is contained in:
Andrew Tridgell 2016-08-29 17:55:27 +10:00
parent e17c8ac851
commit c81d8364ac
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/quadplane.cpp
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@ -1078,7 +1078,7 @@ void QuadPlane::check_throttle_suppression(void)
*/
void QuadPlane::motors_output(void)
{
if (plane.afs.should_crash_vehicle()) {
if (!hal.util->get_soft_armed() || plane.afs.should_crash_vehicle()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output();
return;