Not arming FMU in HIL mode

12 years ago · 11b0242f55
1 changed files with 2 additions and 2 deletions
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@ -382,8 +382,8 @@ PX4FMU::task_main()
				@@ -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);
 		}
 	}