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Commander: Ignore sensor status on in-air restore

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Johan Jansen
2015-04-20 09:14:13 +02:00
committed by Lorenz Meier
parent a6c57afabd
commit 7a4ac0ad7f
1 changed files with 10 additions and 7 deletions
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src/modules/commander/commander.cpp
+10 -7
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@@ -537,13 +537,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case VEHICLE_CMD_COMPONENT_ARM_DISARM: { case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
//Refuse to arm if preflight checks have failed
if(!status.condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
cmd_result = VEHICLE_CMD_RESULT_DENIED;
break;
}
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints // Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
// for logic state parameters // for logic state parameters
if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) { if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
@@ -557,6 +550,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) { if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
status_local->arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; status_local->arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;
} }
else {
//Refuse to arm if preflight checks have failed
if(!status.condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
cmd_result = VEHICLE_CMD_RESULT_DENIED;
break;
}
}
transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command"); transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command");