forked from Archive/PX4-Autopilot
commander: allow arming with safety enabled in HIL mode
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@ -902,7 +902,7 @@ int commander_thread_main(int argc, char *argv[])
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orb_copy(ORB_ID(safety), safety_sub, &safety);
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/* disarm if safety is now on and still armed */
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if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
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if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
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arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
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if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
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mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
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