diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 65fc8f90e..b787a9d4d 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -553,7 +553,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s else { //Refuse to arm if preflight checks have failed - if(!status.condition_system_sensors_initialized) { + if(!status.hil_state != vehicle_status_s::HIL_STATE_ON && !status.condition_system_sensors_initialized) { mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed."); cmd_result = VEHICLE_CMD_RESULT_DENIED; break; @@ -1579,7 +1579,9 @@ int commander_thread_main(int argc, char *argv[]) /* if battery voltage is getting lower, warn using buzzer, etc. */ if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) { low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED"); + if (armed.armed) { + mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED"); + } status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW; status_changed = true; @@ -1587,7 +1589,6 @@ int commander_thread_main(int argc, char *argv[]) && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) { /* critical battery voltage, this is rather an emergency, change state machine */ critical_battery_voltage_actions_done = true; - mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY"); status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL; if (!armed.armed) { |