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commander: respect control mode for prearm requirements

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- preflight tolerate ekf2 warnings if not in an attitude/velocity/position mode (eg manual or acro)
This commit is contained in:
Daniel Agar
2022-01-24 21:00:02 -05:00
parent 90358f078f
commit ad447ab223
7 changed files with 90 additions and 44 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+4 -1
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@@ -296,11 +296,14 @@ bool StateMachineHelperTest::armingStateTransitionTest()
status_flags.circuit_breaker_engaged_power_check = true;
safety.safety_switch_available = test->safety_switch_available;
safety.safety_off = test->safety_off;
armed.armed = test->current_state.armed;
armed.ready_to_arm = test->current_state.ready_to_arm;
vehicle_control_mode_s control_mode{};
// Attempt transition
transition_result_t result = arming_state_transition(status, safety, test->requested_state, armed,
transition_result_t result = arming_state_transition(status, control_mode, safety, test->requested_state, armed,
true /* enable pre-arm checks */,
nullptr /* no mavlink_log_pub */,
status_flags,