diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
1 files changed, 10 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 01f084007..e2a143f7f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -537,13 +537,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - //Refuse to arm if preflight checks have failed - if(!status.condition_system_sensors_initialized) { - mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed."); - cmd_result = VEHICLE_CMD_RESULT_DENIED; - break; - } - // Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints // for logic state parameters if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) { @@ -557,6 +550,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) { status_local->arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; } + else { + + //Refuse to arm if preflight checks have failed + if(!status.condition_system_sensors_initialized) { + mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed."); + cmd_result = VEHICLE_CMD_RESULT_DENIED; + break; + } + + } transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command"); |