From ac97b5520c9009e09086b9259d466194efddf31d Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 4 May 2021 12:18:51 +0200 Subject: [PATCH] commander: assume power is fine for HITL This means that the preflight check indicator in QGC is green for HITL. --- .../commander/Arming/PreFlightCheck/checks/powerCheck.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp index 3ad148a8c0..5e21e6fc38 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp @@ -63,6 +63,11 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta return true; } + if (status.hil_state == vehicle_status_s::HIL_STATE_ON) { + // Ignore power check in HITL. + return true; + } + uORB::SubscriptionData system_power_sub{ORB_ID(system_power)}; system_power_sub.update(); const system_power_s &system_power = system_power_sub.get();