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commander: Add prearm check for flight termination

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This commit is contained in:
Alex Mikhalev
2022-04-25 11:57:37 -04:00
committed by Daniel Agar
parent 6359c8c008
commit 45dff7f71a
3 changed files with 9 additions and 0 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+6
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@@ -79,6 +79,12 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
prearm_ok = false;
}
if (status_flags.flight_terminated) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flight termination active"); }
prearm_ok = false;
}
// USB not connected
if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe"); }