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Merge pull request #895 from PX4/hil_arming_fix

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mavlink: Only sending HIL control commands if the system is actually armed
This commit is contained in:
Thomas Gubler
2014-05-04 15:15:34 +02:00
parent 55cae08cf3 5f786af8fa
commit f1715869d0
1 changed files with 5 additions and 5 deletions
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src/modules/mavlink/mavlink_messages.cpp
+5 -5
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@@ -819,11 +819,11 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
bool updated = status_sub->update(t); bool updated = act_sub->update(t);
updated |= pos_sp_triplet_sub->update(t); (void)pos_sp_triplet_sub->update(t);
updated |= act_sub->update(t); (void)status_sub->update(t);
if (updated) { if (updated && (status->arming_state == ARMING_STATE_ARMED)) {
/* translate the current syste state to mavlink state and mode */ /* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state; uint8_t mavlink_state;
uint8_t mavlink_base_mode; uint8_t mavlink_base_mode;
@@ -1353,7 +1353,7 @@ protected:
uint8_t orientation = 0; uint8_t orientation = 0;
uint8_t covariance = 20; uint8_t covariance = 20;
mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
} }
}; };