diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 35 |
1 files changed, 16 insertions, 19 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 57afcf19a..8cce01778 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2723,35 +2723,32 @@ void *commander_low_prio_loop(void *arg) /* enable RC control input */ status.rc_input_blocked = false; mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN"); + calib_ret = OK; } - - /* this always succeeds */ - calib_ret = OK; - } if (calib_ret == OK) { tune_positive(true); - } else { - 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. - // 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. + bool checkAirspeed = false; + /* 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) { + checkAirspeed = true; + } - bool checkAirspeed = false; - /* 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) { - checkAirspeed = true; - } + status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true); - status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true); + arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); - arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd); + } else { + tune_negative(true); + } break; } |