From cdd317ba383775bfde0b4b488092129461a39fd7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 31 Oct 2016 11:46:17 -0400 Subject: [PATCH] commander arm check throttle include rattitude --- src/modules/commander/commander.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index aa2b80e537..32fc04452c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -851,8 +851,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s // Refuse to arm if in manual with non-zero throttle if (cmd_arms && (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL + || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB - || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO) + || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE) && (sp_man.z > 0.1f)) { mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero.");