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commander prearm_check is always prearm

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This commit is contained in:
Daniel Agar
2018-04-16 20:43:33 -04:00
parent e73317a720
commit 208e320975
3 changed files with 5 additions and 5 deletions
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src/modules/commander/commander.cpp
+1 -1
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@@ -389,7 +389,7 @@ int commander_main(int argc, char *argv[])
} }
if (!strcmp(argv[1], "check")) { if (!strcmp(argv[1], "check")) {
bool checkres = prearm_check(&mavlink_log_pub, true, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp)); bool checkres = prearm_check(&mavlink_log_pub, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
PX4_INFO("Prearm check: %s", checkres ? "OK" : "FAILED"); PX4_INFO("Prearm check: %s", checkres ? "OK" : "FAILED");
return 0; return 0;
src/modules/commander/state_machine_helper.cpp
+3 -3
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@@ -136,7 +136,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true, (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true,
status->is_vtol, true, true, time_since_boot); status->is_vtol, true, true, time_since_boot);
prearm_check_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */, status_flags, battery, prearm_check_ret = prearm_check(mavlink_log_pub, false /* force_report */, status_flags, battery,
arm_requirements, time_since_boot); arm_requirements, time_since_boot);
if (!preflight_check) { if (!preflight_check) {
@@ -1031,7 +1031,7 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c
} }
} }
bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report, bool prearm_check(orb_advert_t *mavlink_log_pub, const bool force_report,
vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements, vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements,
const hrt_abstime &time_since_boot) const hrt_abstime &time_since_boot)
{ {
@@ -1039,7 +1039,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool f
status_flags->condition_system_hotplug_timeout); status_flags->condition_system_hotplug_timeout);
bool prearm_ok = true; bool prearm_ok = true;
if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected && prearm) { if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected) {
prearm_ok = false; prearm_ok = false;
if (reportFailures) { if (reportFailures) {
src/modules/commander/state_machine_helper.h
+1 -1
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@@ -106,7 +106,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub,
const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos); const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos);
bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report, bool prearm_check(orb_advert_t *mavlink_log_pub, const bool force_report,
vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements, vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements,
const hrt_abstime &time_since_boot); const hrt_abstime &time_since_boot);