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commander arm check throttle include rattitude

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This commit is contained in:
Daniel Agar
2016-10-31 11:46:17 -04:00
committed by Lorenz Meier
parent 93fb02bfa3
commit cdd317ba38
1 changed files with 2 additions and 1 deletions
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src/modules/commander/commander.cpp
+2 -1
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@@ -851,8 +851,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
// Refuse to arm if in manual with non-zero throttle
if (cmd_arms
&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO)
|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)
&& (sp_man.z > 0.1f)) {
mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero.");