AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch

8 years ago · 7dca7933fa
1 changed files with 1 additions and 2 deletions
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@ -499,8 +499,7 @@ void PX4RCOutput::_send_outputs(void)
				@@ -499,8 +499,7 @@ void PX4RCOutput::_send_outputs(void)
                            ap_uc->rco_write(_period[i], i);
                        }

-                        bool armed = hal.util->get_soft_armed();
-                        if (armed) {
+                        if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
                            ap_uc->rco_arm_actuators(true);
                        } else {
                            ap_uc->rco_arm_actuators(false);