diff options
| author | Julian Oes <julian@oes.ch> | 2014-07-26 17:48:45 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-07-26 17:48:45 +0200 |
| commit | 54b9698d6560290e386b8dd2a7b9f0b6f4c5f57a (patch) | |
| tree | c2b6cb4061b6793d85dd4f6c4d56a5a0f1cfc8c8 /src/modules/commander/state_machine_helper.cpp | |
| parent | 5bf7d5774c07ed7e9d2e83d623abc7bab6422348 (diff) | |
| download | px4-firmware-54b9698d6560290e386b8dd2a7b9f0b6f4c5f57a.tar.gz px4-firmware-54b9698d6560290e386b8dd2a7b9f0b6f4c5f57a.tar.bz2 px4-firmware-54b9698d6560290e386b8dd2a7b9f0b6f4c5f57a.zip | |
circuit_breakers: added param to disable airspeed check
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 7b26e3e8c..3c3d2f233 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -669,7 +669,9 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) goto system_eval; } - if (!status->is_rotary_wing) { + /* Perform airspeed check only if circuit breaker is not + * engaged and it's not a rotary wing */ + if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) { /* accel done, close it */ close(fd); fd = orb_subscribe(ORB_ID(airspeed)); |