From 020215f1462b1ed32d1dbc4f9c46ff11c03788d5 Mon Sep 17 00:00:00 2001
From: David <40562170+DavidMackie@users.noreply.github.com>
Date: Tue, 17 Dec 2019 21:21:11 +0100
Subject: [PATCH] commander: don't allow arming during VTOL transition

---
 .../commander/Arming/PreFlightCheck/PreFlightCheck.hpp   | 2 +-
 .../Arming/PreFlightCheck/checks/preArmCheck.cpp         | 9 ++++++++-
 src/modules/commander/Commander.cpp                      | 2 +-
 src/modules/commander/state_machine_helper.cpp           | 2 +-
 4 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
index 052aad9854..f08e1b8294 100644
--- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
@@ -82,7 +82,7 @@ public:
 				   const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
 
 	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				const safety_s &safety, const uint8_t arm_requirements);
+				const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status);
 
 	typedef enum {
 		ARM_REQ_NONE = 0,
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
index d5030bae07..a38f87c734 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
@@ -38,7 +38,7 @@
 #include <uORB/topics/vehicle_command_ack.h>
 
 bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				 const safety_s &safety, const uint8_t arm_requirements)
+				 const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status)
 {
 	bool prearm_ok = true;
 
@@ -127,6 +127,13 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		}
 	}
 
+	if (status.is_vtol && status.in_transition_mode) {
+		if (prearm_ok) {
+			mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state");
+			prearm_ok = false;
+		}
+	}
+
 	// Arm Requirements: authorization
 	// check last, and only if everything else has passed
 	if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index b752d11ee2..cac0d44579 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -374,7 +374,7 @@ int commander_main(int argc, char *argv[])
 		bool preflight_check_res = Commander::preflight_check(true);
 		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
 
-		bool prearm_check_res = PreFlightCheck::preArmCheck(&mavlink_log_pub, status_flags, safety, arm_requirements);
+		bool prearm_check_res = PreFlightCheck::preArmCheck(&mavlink_log_pub, status_flags, safety, arm_requirements, status);
 		PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
 
 		return 0;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 17d8871c98..86a03ff305 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -178,7 +178,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
 
 					if (fRunPreArmChecks && preflight_check_ret) {
 						// only bother running prearm if preflight was successful
-						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, *status_flags, safety, arm_requirements);
+						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, *status_flags, safety, arm_requirements, *status);
 					}
 
 					if (!preflight_check_ret || !prearm_check_ret) {