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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-17 10:06:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-20 09:14:13 +0200 |
| commit | 7a4ac0ad7fa5a8faad927067c5267b052d5b9cd1 (patch) | |
| tree | 561856e2375fbd2d79503b5a3e2cf802237e05d5 | |
| parent | a6c57afabd22a7f683bad07d396c178c59e3dc7c (diff) | |
| download | px4-firmware-7a4ac0ad7fa5a8faad927067c5267b052d5b9cd1.tar.gz px4-firmware-7a4ac0ad7fa5a8faad927067c5267b052d5b9cd1.tar.bz2 px4-firmware-7a4ac0ad7fa5a8faad927067c5267b052d5b9cd1.zip | |
Commander: Ignore sensor status on in-air restore
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
1 files changed, 10 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 01f084007..e2a143f7f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -537,13 +537,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - //Refuse to arm if preflight checks have failed - if(!status.condition_system_sensors_initialized) { - mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed."); - cmd_result = VEHICLE_CMD_RESULT_DENIED; - break; - } - // Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints // for logic state parameters if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) { @@ -557,6 +550,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) { status_local->arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; } + else { + + //Refuse to arm if preflight checks have failed + if(!status.condition_system_sensors_initialized) { + mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed."); + cmd_result = VEHICLE_CMD_RESULT_DENIED; + break; + } + + } transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command"); |