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prearmCheck: vtol cleanup

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-01-28 09:43:11 +03:00 committed by Daniel Agar
parent 8de675ec88
commit 3ef6eba34c
1 changed files with 14 additions and 11 deletions
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25
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
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@ -127,18 +127,21 @@ 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;
}
}
if (status.is_vtol) {
if (!status_flags.circuit_breaker_vtol_fw_arming_check && status.is_vtol
&& status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
prearm_ok = false;
if (status.in_transition_mode) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state");
prearm_ok = false;
}
}
if (!status_flags.circuit_breaker_vtol_fw_arming_check
&& status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
prearm_ok = false;
}
}
}