From b757ebbda83a254a997126fd8f932f30174584cf Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Nov 2012 17:45:11 +0100 Subject: [PATCH] Not arming FMU in HIL mode --- apps/drivers/px4fmu/fmu.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 3eb4a9ef22..9743a1ae53 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -382,8 +382,8 @@ PX4FMU::task_main() /* get new value */ orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); - /* update PWM servo armed status */ - up_pwm_servo_arm(aa.armed); + /* update PWM servo armed status if armed and not locked down */ + up_pwm_servo_arm((aa.armed && !aa.lockdown); } }