From 3f77455dd85870caacc5dfa76aecd669a43de2e8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Jun 2015 15:58:21 +0200 Subject: [PATCH] commander: Condition HIL arming check properly --- src/modules/commander/commander.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7c15992f40..67e17aae08 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -450,7 +450,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char transition_result_t arming_res = TRANSITION_NOT_CHANGED; // For HIL platforms, require that simulated sensors are connected - if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) { + if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL && + is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) { mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming"); return TRANSITION_DENIED; }