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commander add parameter COM_ARM_MIS_REQ

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- arm without mission on by default
This commit is contained in:
Daniel Agar
2017-04-20 11:18:32 -04:00
parent 709bd8cb28
commit c1d9972244
6 changed files with 99 additions and 55 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+5 -3
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@@ -297,9 +297,10 @@ bool StateMachineHelperTest::armingStateTransitionTest()
nullptr /* no mavlink_log_pub */,
&status_flags,
5.0f, /* avionics rail voltage */
check_gps,
2e6 /* 2 seconds after boot, everything should be checked */
);
check_gps,
true, /* can arm without valid mission */
2e6 /* 2 seconds after boot, everything should be checked */
);
// Validate result of transition
ut_compare(test->assertMsg, test->expected_transition_result, result);
@@ -456,6 +457,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
current_status_flags.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
current_status_flags.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
current_status_flags.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
current_status_flags.condition_auto_mission_available = true;
// Attempt transition
transition_result_t result = main_state_transition(&current_vehicle_status, test->to_state, main_state_prev,