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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-12 12:30:20 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-12 12:30:20 +0200 |
commit | 017f82e2b808eefedb45971e6c416b6864055769 (patch) | |
tree | b104f5f87b3554036c7d909e9eacb330c5da15b9 /src/modules/commander/state_machine_helper.cpp | |
parent | f78ea38d982006389e83382a44baa672834acb6d (diff) | |
parent | 3f4aef60c88b1e570dd30bc47a13d5340073e9a9 (diff) | |
download | px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.tar.gz px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.tar.bz2 px4-firmware-017f82e2b808eefedb45971e6c416b6864055769.zip |
Merge remote-tracking branch 'origin/master' into obcfailsafe
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index a3265142d..ecfe62e03 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -99,11 +99,12 @@ static const char * const state_names[ARMING_STATE_MAX] = { }; transition_result_t -arming_state_transition(struct vehicle_status_s *status, /// current vehicle status - const struct safety_s *safety, /// current safety settings - arming_state_t new_arming_state, /// arming state requested - struct actuator_armed_s *armed, /// current armed status - const int mavlink_fd) /// mavlink fd for error reporting, 0 for none +arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status + const struct safety_s *safety, ///< current safety settings + arming_state_t new_arming_state, ///< arming state requested + struct actuator_armed_s *armed, ///< current armed status + bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing + const int mavlink_fd) ///< mavlink fd for error reporting, 0 for none { // Double check that our static arrays are still valid ASSERT(ARMING_STATE_INIT == 0); @@ -125,7 +126,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current int prearm_ret = OK; /* only perform the check if we have to */ - if (new_arming_state == ARMING_STATE_ARMED) { + if (fRunPreArmChecks && new_arming_state == ARMING_STATE_ARMED) { prearm_ret = prearm_check(status, mavlink_fd); } |