From dc9e2a54f30593ca8ad8cb6a3892027370cf43f7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 13 Mar 2015 11:20:43 +1100 Subject: [PATCH] Plane: fixed use of HAL soft_armed --- ArduPlane/ArduPlane.pde | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index b63cdbdf76..05cd77bc26 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -1561,7 +1561,7 @@ static void determine_is_flying(void) gps.ground_speed() >= 5); - if(arming.is_armed()) { + if (hal.util->get_soft_armed()) { // when armed, we need overwhelming evidence that we ARE NOT flying isFlyingBool = airspeedMovement || gpsMovement; @@ -1576,16 +1576,13 @@ static void determine_is_flying(void) static bool is_flying(void) { - if(arming.is_armed()) { + if (hal.util->get_soft_armed()) { // when armed, assume we're flying unless we probably aren't return (isFlyingProbability >= 0.1f); } - else - { - // when disarmed, assume we're not flying unless we probably are - return (isFlyingProbability >= 0.9f); - } + // when disarmed, assume we're not flying unless we probably are + return (isFlyingProbability >= 0.9f); }