rotorcraft arming: also prevent switching motors on via settings/GCS …

…if AHRS is not aligned (unless AUTOPILOT_DISABLE_AHRS_KILL is defined)
paparazzi · Apr 6, 2012 · 06c7a2e · 06c7a2e
1 parent 9a7dff4
commit 06c7a2e
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -223,7 +223,10 @@ static inline void autopilot_check_in_flight( bool_t motors_on ) {
 
 
 void autopilot_set_motors_on(bool_t motors_on) {
-  autopilot_motors_on = motors_on;
+  if (ahrs_is_aligned && motors_on)
+    autopilot_motors_on = TRUE;
+  else
+    autopilot_motors_on = FALSE;
   kill_throttle = ! autopilot_motors_on;
   autopilot_arming_set(autopilot_motors_on);
 }