diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bf17a7b31..01f084007 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2703,12 +2703,22 @@ void *commander_low_prio_loop(void *arg) tune_negative(true); } + // Update preflight check status + // we do not set the calibration return value based on it because the calibration + // might have worked just fine, but the preflight check fails for a different reason, + // so this would be prone to false negatives. + status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true); + arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); break; } case VEHICLE_CMD_PREFLIGHT_STORAGE: { + // Update preflight check status + status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true); + + arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); if (((int)(cmd.param1)) == 0) { int ret = param_load_default(); |