From c825c7b4ccbbcb40c9c9fa7f7069156558a5c55d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 19 Oct 2016 18:13:11 +1100
Subject: [PATCH] HAL_PX4: disable FMU outputs again on re-engaging of safety
 switch

---
 libraries/AP_HAL_PX4/RCOutput.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 7532b84c69..507bc546d8 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -434,6 +434,8 @@ void PX4RCOutput::_publish_actuators(void)
     }
     if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
         _arm_actuators(true);
+    } else {
+        _arm_actuators(false);
     }
 }