From 7bb256f4b705197a46785930c5c00b05e9e6ef0c Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 May 2020 13:46:31 -0400 Subject: [PATCH] commander: skip continuous preflight check if calibrating --- src/modules/commander/Commander.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 143240356f..325e796fa8 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2315,10 +2315,9 @@ Commander::run() status_flags.timestamp = hrt_absolute_time(); // Evaluate current prearm status - if (!armed.armed) { + if (!armed.armed && !status_flags.condition_calibration_enabled) { bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, false, true, 30_s); - bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, _safety, - _arm_requirements, status, false); + bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, _safety, _arm_requirements, status, false); set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res && prearm_check_res), status); }