From a071ef94db9e0ce08aeb49460e8f0f747222a7bc Mon Sep 17 00:00:00 2001 From: Nicolas de Palezieux Date: Sat, 3 Sep 2016 21:59:27 +0200 Subject: [PATCH] always update armed flag (#5434) otherwise the battery estimator does not compute bat_v_empty_dynamic correctly --- src/modules/sensors/sensors.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 78aa385d06..c02314871c 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1355,19 +1355,18 @@ Sensors::vehicle_control_mode_poll() if (vcontrol_mode_updated) { orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode); + _armed = vcontrol_mode.flag_armed; /* switching from non-HIL to HIL mode */ if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) { _hil_enabled = true; _publishing = false; - _armed = vcontrol_mode.flag_armed; /* switching from HIL to non-HIL mode */ } else if (!_publishing && !_hil_enabled) { _hil_enabled = false; _publishing = true; - _armed = vcontrol_mode.flag_armed; } } }