From 32be88404a837da8215283ae6e618ffaf136b426 Mon Sep 17 00:00:00 2001
From: Thomas Debrunner <thomas.debrunner@auterion.com>
Date: Thu, 28 Oct 2021 18:06:31 +0200
Subject: [PATCH] commander: Only run estimator navigation checks when armed

---
 src/modules/commander/Commander.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 9a9ead35ca..fa15c07ec7 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3912,7 +3912,7 @@ void Commander::estimator_check()
 
 		if (run_quality_checks && _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 
-			if (_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
+			if (_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
 				_nav_test_failed = false;
 				_nav_test_passed = false;