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run arm authorization as last pre-arm check, as it used to be implemented

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-10-15 15:44:24 +01:00
committed by Nuno Marques
parent e843090383
commit 6bfb50df8a
1 changed files with 9 additions and 9 deletions
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src/modules/commander/state_machine_helper.cpp
+9 -9
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@@ -1089,15 +1089,6 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
prearm_ok = false; prearm_ok = false;
} }
// Arm Requirements: authorization
// check last, and only if everything else has passed
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;
}
}
if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) { if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
if (prearm_ok && reportFailures) { if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready"); mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
@@ -1114,6 +1105,15 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
} }
} }
// Arm Requirements: authorization
// check last, and only if everything else has passed
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;
}
}
return prearm_ok; return prearm_ok;
} }