From 8d39f4e4a167150c8904bbd6b389828c1e78cb8a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 5 Dec 2017 10:48:52 -0500
Subject: [PATCH] px4io only update params and bind if not armed

---
 src/drivers/px4io/px4io.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b03166ff4d..b5f21c7686 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -994,7 +994,7 @@ PX4IO::task_main()
 			}
 		}
 
-		if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
+		if (!_armed && (now >= orb_check_last + ORB_CHECK_INTERVAL)) {
 			/* run at 5Hz */
 			orb_check_last = now;