From 6769e8b86f0418a10666e84faabbb7d59ef71d3d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 Dec 2017 03:53:38 +0300 Subject: [PATCH] simple_offboard: error if copter is not armed/offboarded and auto_arm=False --- clever/src/simple_offboard.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index 749c146a..4ec0727f 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -326,6 +326,11 @@ def handle(req): if req.auto_arm: offboard_and_arm() + else: + if state.mode != 'OFFBOARD': + return {'message': 'Copter is not in OFFBOARD mode, use auto_arm?'} + if not state.armed: + return {'message': 'Copter is not armed, use auto_arm?'} return {'success': True}