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commander: fix prearm flag to preflightCheck

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This was inverted, i.e. set to false in most cases, whereas it should be
true.

As a consequence, both powerCheck and airspeed.confidence checks were not
executed.
This commit is contained in:
Beat Küng
2020-01-24 15:48:41 +01:00
committed by Lorenz Meier
parent 4fef3dd7d5
commit 9e7dcd4b06
3 changed files with 7 additions and 6 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -286,7 +286,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "check")) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, false, 30_s);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, true, 30_s);
PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, safety_s{},
@@ -1280,7 +1280,7 @@ Commander::run()
arm_auth_init(&mavlink_log_pub, &status.system_id);
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, _arm_requirements.global_position, false, false,
PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, _arm_requirements.global_position, false, true,
hrt_elapsed_time(&_boot_timestamp));
while (!should_exit()) {
@@ -3355,7 +3355,7 @@ void *commander_low_prio_loop(void *arg)
tune_positive(true);
// time since boot not relevant here
if (PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, false, false, false, 30_s)) {
if (PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, false, false, true, 30_s)) {
status_flags.condition_system_sensors_initialized = true;
}