From 4c6621f6cf57939d02971b83fdcf753a07959776 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 17 Nov 2021 22:24:26 +0100 Subject: [PATCH] Commander: Allow arming a rover with the throttle stick in the middle --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index c65636fbf1..ca216f6dd0 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -576,7 +576,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ } if (!_vehicle_control_mode.flag_control_climb_rate_enabled && - !_status.rc_signal_lost && !_is_throttle_low) { + !_status.rc_signal_lost && !_is_throttle_low && _status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) { mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t"); events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info},