Commander: More hotfixes to prearm check routine

2 files changed, 7 insertions, 3 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6138a4c37..18761665a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -298,7 +298,9 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "check")) {
-		int checkres = prearm_check(&status, mavlink_fd);
+		int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
+		int checkres = prearm_check(&status, mavlink_fd_local);
+		close(mavlink_fd_local);
 		warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
 		exit(0);
 	}
@@ -329,6 +331,7 @@ void usage(const char *reason)
 
 void print_status()
 {
+	warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
 	warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
 
 	/* read all relevant states */
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index d6b4d43ad..5cbc95920 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -664,11 +664,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	}
 
 	if (!status->is_rotary_wing) {
+
 		/* accel done, close it */
 		close(fd);
 		fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
 
-		if (fd < 0) {
+		if (fd <= 0) {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
 			failed = true;
 			goto system_eval;
@@ -693,5 +694,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 system_eval:
 	close(fd);
-	return (!failed);
+	return (failed);
 }