diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/commander/commander.cpp | 15 |
1 files changed, 4 insertions, 11 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9330ef682..b0cd0b9e4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1553,17 +1553,10 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY"); status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL; - if (armed.armed) { - arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, - mavlink_fd); - - if (arming_ret == TRANSITION_CHANGED) { - arming_state_changed = true; - } - - } else { - arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, - mavlink_fd); + if (!armed.armed) { + arming_ret = arming_state_transition(&status, &safety, + vehicle_status_s::ARMING_STATE_STANDBY_ERROR, + &armed, true /* fRunPreArmChecks */, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true; |