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preflight check: only conduct if not armed

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This commit is contained in:
Balduin
2025-02-18 16:59:08 +01:00
parent c28d015d9c
commit 6e5f3a6099
1 changed files with 8 additions and 24 deletions
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src/modules/commander/Commander.cpp
+8 -24
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@@ -1871,31 +1871,15 @@ void Commander::run()
_status_changed = true;
}
if (_param_com_do_cs_check.get()) {
if (!isArmed()) {
if (_param_com_do_cs_check.get()) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);
// directly modify user intention here.
// plan is for this to ultimately to be triggered by a mavlink command
// through Commander::handle_command
// this nice pattern stolen from handle_command
// if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK, ModeChangeSource::ModeExecutor, false)) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);
// no error handling like this for now
// if (ret) {
// return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
// PX4_INFO("mode intention changed");
// } else {
// printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
// return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
// PX4_INFO("mode intention not changed");
// }
} else {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK) {
_user_mode_intention.change(_prev_nav_state);
} else {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK) {
_user_mode_intention.change(_prev_nav_state);
}
}
}