Merge pull request #73 from PX4/io_arming

Made sure IO and FMU obey the lockdown flag when arming motors

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);
 		}
 	}
 

apps/drivers/px4io/px4io.cpp

@@ -499,7 +499,8 @@ PX4IO::io_send()
 
 	// XXX relays
 
-	cmd.arm_ok = _armed.armed;
+	/* armed and not locked down */
+	cmd.arm_ok = (_armed.armed && !_armed.lockdown);
 
 	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
 	if (ret)