diff options
Diffstat (limited to 'src/modules/commander/state_machine_helper.cpp')
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 3c3d2f233..f8589d24b 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -99,11 +99,12 @@ static const char * const state_names[ARMING_STATE_MAX] = { }; transition_result_t -arming_state_transition(struct vehicle_status_s *status, /// current vehicle status - const struct safety_s *safety, /// current safety settings - arming_state_t new_arming_state, /// arming state requested - struct actuator_armed_s *armed, /// current armed status - const int mavlink_fd) /// mavlink fd for error reporting, 0 for none +arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status + const struct safety_s *safety, ///< current safety settings + arming_state_t new_arming_state, ///< arming state requested + struct actuator_armed_s *armed, ///< current armed status + bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing + const int mavlink_fd) ///< mavlink fd for error reporting, 0 for none { // Double check that our static arrays are still valid ASSERT(ARMING_STATE_INIT == 0); @@ -125,7 +126,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current int prearm_ret = OK; /* only perform the check if we have to */ - if (new_arming_state == ARMING_STATE_ARMED) { + if (fRunPreArmChecks && new_arming_state == ARMING_STATE_ARMED) { prearm_ret = prearm_check(status, mavlink_fd); } |