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Commander: properly separate preflight check and prearm checks

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We were running pre-arm checks before when not arming, which led to annoying error messages on vehicles that were on the bench or serviced on the ground. Now we really only run them when trying to arm.
This commit is contained in:
Lorenz Meier
2017-12-31 16:11:13 +01:00
parent ddf0ecfc38
commit 90b4afebb5
3 changed files with 35 additions and 28 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -447,10 +447,10 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "check")) {
int checkres = 0;
checkres = preflight_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery, ARM_REQ_GPS_BIT, hrt_elapsed_time(&commander_boot_timestamp));
checkres = prearm_check(&status, &mavlink_log_pub, false, true, &status_flags, &battery, ARM_REQ_GPS_BIT, hrt_elapsed_time(&commander_boot_timestamp));
warnx("Preflight check: %s", (checkres == 0) ? "OK" : "FAILED");
checkres = preflight_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
checkres = prearm_check(&status, &mavlink_log_pub, true, true, &status_flags, &battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
warnx("Prearm check: %s", (checkres == 0) ? "OK" : "FAILED");
return 0;