diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 | ||||
| -rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 5 |
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); } |