arming state fix for HITL

tiiuae · Aug 20, 2024 · 466fcc5 · 466fcc5
1 parent ae35bf3
commit 466fcc5
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp
@@ -122,7 +122,9 @@ class MavlinkStreamHeartbeat : public MavlinkStream
 			}
 
 			// system_status overrides
-			if (actuator_armed.force_failsafe || actuator_armed.lockdown || actuator_armed.manual_lockdown
+			if (actuator_armed.force_failsafe || (actuator_armed.lockdown
+							      && vehicle_status.hil_state == vehicle_status_s::HIL_STATE_OFF)
+			    || actuator_armed.manual_lockdown
 			    || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
 				system_status = MAV_STATE_FLIGHT_TERMINATION;