From cc582b2b4411eccae3b077b1095a2a34b6f59c06 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 28 Dec 2012 13:10:58 +0100 Subject: [PATCH] Only send actuator HIL commands if armed --- apps/mavlink/orb_listener.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 971ba6a8ea..40e52a5005 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -455,7 +455,7 @@ l_actuator_outputs(struct listener *l) act_outputs.output[7]); /* only send in HIL mode */ - if (mavlink_hil_enabled) { + if (mavlink_hil_enabled && armed.armed) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0;