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FMU driver: Rely on prearmed field to pre-arm

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Lorenz Meier
2015-07-22 17:16:34 +02:00
parent fb9dcfc4a1
commit f94e2c8136
1 changed files with 2 additions and 2 deletions
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src/drivers/px4fmu/fmu.cpp
+2 -2
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@@ -165,7 +165,7 @@ private:
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
static bool arm_nothrottle() { return (_armed.ready_to_arm && !_armed.armed); }
static bool arm_nothrottle() { return (_armed.prearmed && !_armed.armed); }
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
@@ -733,7 +733,7 @@ PX4FMU::task_main()
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = (_armed.armed || _armed.ready_to_arm) && !_armed.lockdown;
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;