From 87f98f096fa45aa00c14fbf516bab2f489df26be Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 20 Feb 2021 14:42:39 +0100 Subject: [PATCH] Commander: Respect position circuit breaker This ensures that commander respects the position check circuit breaker and allows arming without position. --- .../commander/Arming/PreFlightCheck/checks/preArmCheck.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp index d0a16fda86..f725654966 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp @@ -94,7 +94,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st } } - if (arm_requirements.global_position) { + if (arm_requirements.global_position && !status_flags.circuit_breaker_engaged_posfailure_check) { if (!status_flags.condition_global_position_valid) { if (prearm_ok) {