From 1c3fb70ab1203dfe55e14c671c6fea1c9f50d02d Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 3 May 2013 01:44:41 +0200
Subject: [PATCH] OP-629 Block arming on all navigation based modes

Conflicts:
	flight/modules/ManualControl/manualcontrol.c
---
 flight/modules/ManualControl/manualcontrol.c | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index fd069b33b..a60614c62 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -916,7 +916,18 @@ static bool okToArm(void)
         }
     }
 
-    return true;
+	uint8_t flightMode;
+	FlightStatusFlightModeGet(&flightMode);
+	switch(flightMode) {
+	    case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
+	    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
+	    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
+	    case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
+	        return true;
+	    default:
+	        return false;
+
+	}
 }
 /**
  * @brief Determine if the aircraft is forced to disarm by an explicit alarm