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commander: Condition HIL arming check properly

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Lorenz Meier
2015-06-12 15:58:21 +02:00
parent 92aeef2b84
commit 3f77455dd8
1 changed files with 2 additions and 1 deletions
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src/modules/commander/commander.cpp
+2 -1
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@@ -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;
}