From 8e04934eab32d4955caca50fae725bd69fe6d409 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 15 Dec 2021 09:11:42 +0100
Subject: [PATCH] commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST
 as well

---
 src/modules/commander/Commander.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index c50e232d8a..79a1f3defd 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1508,6 +1508,10 @@ Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}
 
+	if (_param_com_mot_test_en.get() != 1) {
+		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
+	}
+
 	actuator_test_s actuator_test{};
 	actuator_test.timestamp = hrt_absolute_time();
 	actuator_test.function = (int)(cmd.param5 + 0.5);