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commander: allow rearming grace period for arming switch only

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bresch
2022-03-09 08:42:21 +01:00
committed by Beat Küng
parent cd5a1e510a
commit 182980526f
3 changed files with 2 additions and 12 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -677,7 +677,8 @@ static constexpr const char *main_state_str(uint8_t main_state)
transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks)
{
// allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidential in-air disarming
if (_param_com_rearm_grace.get() && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) {
if (calling_reason == arm_disarm_reason_t::rc_switch
&& (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s)) {
run_preflight_checks = false;
}