From 38b96adf2d9ec23d3ce5db36e753de9b078c2b31 Mon Sep 17 00:00:00 2001
From: Julian Oes <joes@student.ethz.ch>
Date: Tue, 19 Feb 2013 12:12:49 -0800
Subject: [PATCH] Arming flag is now included when flight mode is changed in
 the ControlWidget

---
 src/ui/uas/UASControlWidget.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 06161d291..9d970ee05 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -178,6 +178,12 @@ void UASControlWidget::transmitMode()
     UASInterface* mav = UASManager::instance()->getUASForId(this->uas);
     if (mav)
     {
+        // include armed state
+        if (engineOn)
+            uasMode |= MAV_MODE_FLAG_SAFETY_ARMED;
+        else
+            uasMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
+
         mav->setMode(uasMode);
         QString mode = ui.modeComboBox->currentText();
 
-- 
2.22.0