From 8c3cf0167cb618af9800d346c77379a7e2c59603 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 9 Jun 2018 11:48:40 +0200
Subject: [PATCH] commander arming_state_transition: respect fRunPreArmChecks
properly
if fRunPreArmChecks was set to false, there were still cases where the
preflight checks could be called. This fixes that.
arming_state_transition() with fRunPreArmChecks=false is only called
when entering & leaving preflight calibration mode.
All other places use fRunPreArmChecks=true, which means there is no change
for these.
---
src/modules/commander/state_machine_helper.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index a3e1bbe7d1..e0f39ab78a 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -137,8 +137,9 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags->condition_system_sensors_initialized
- && ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
- && !hil_enabled) {
+ && fRunPreArmChecks
+ && ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
+ && !hil_enabled) {
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
--
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