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Condition the GPS check always on the commander GPS prearm check param (#6055)

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Lorenz Meier
2016-12-14 15:30:24 +01:00
committed by GitHub
parent 17990cf5dc
commit 4b0647d9c0
1 changed files with 2 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -1905,7 +1905,7 @@ int commander_thread_main(int argc, char *argv[])
} else {
/* check sensors also */
(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check,
(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !can_arm_without_gps,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
}
}
@@ -4004,7 +4004,7 @@ void *commander_low_prio_loop(void *arg)
}
status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !status_flags.circuit_breaker_engaged_gpsfailure_check,
!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !can_arm_without_gps,
/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
arming_state_transition(&status,