Arming motors from within app

Hi all,

I hope this is the right place for my question. I own a Pixhawk fc, and I’m developing the firmware required for a vehicle that by no means resemble any of the supported frames. I’m trying to get there little by little testing small pieces of code in the form of simple apps. Following the guide I was able to subscribe to various topics of interest.

Now, I wanted to run the motor_test app but nothing happens, and presumably that’s because the motors are not armed (red light is flashing). As I’m not planning on controlling the vehicle with a radio controller, is there a way to “code” the disarming of the motors directly at the begin of my app? What the name of the function that search for the right arming radio controller input?

Thanks in advance for your help.

You can publish to the actuator_armed topic - check the commander source on how to do that.