From 7dca7933fae55f40c6312ff1a82b6473e071b528 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Mon, 24 Apr 2017 01:48:06 +0100
Subject: [PATCH] AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch

---
 libraries/AP_HAL_PX4/RCOutput.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 7e85e110ae..08d4c9db43 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -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);