From 9c8dc3941dbf56af20914b77a6ab585861c9afe4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 30 Oct 2017 10:03:38 +0100 Subject: [PATCH] commander: fix 'commander arm' not working in HIL mode This got introduced with 61b0a81bf9. Due to the removed startup_in_hil flag, this check does not work anymore, so remove it completely. --- src/modules/commander/commander.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 42bd2f15de..ce4a9d61bf 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -722,14 +722,6 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co { transition_result_t arming_res = TRANSITION_NOT_CHANGED; - // For HIL platforms, require that simulated sensors are connected - if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL && - status.hil_state == vehicle_status_s::HIL_STATE_ON) { - - mavlink_log_critical(mavlink_log_pub_local, "HITL: Connect to simulator before arming."); - return TRANSITION_DENIED; - } - // Transition the armed state. By passing mavlink_log_pub to arming_state_transition it will // output appropriate error messages if the state cannot transition. arming_res = arming_state_transition(&status,