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commander move arm authorization to prearm_check

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This commit is contained in:
Daniel Agar
2018-04-16 20:43:33 -04:00
parent 082126610d
commit c679703da4
1 changed files with 8 additions and 8 deletions
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src/modules/commander/state_machine_helper.cpp
+8 -8
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@@ -289,14 +289,6 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
} }
} }
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& valid_transition) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
feedback_provided = true;
valid_transition = false;
}
}
// Finish up the state transition // Finish up the state transition
if (valid_transition) { if (valid_transition) {
armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED); armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
@@ -1051,5 +1043,13 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
} }
} }
// arm authorization check
if (arm_requirements & ARM_REQ_ARM_AUTH_BIT) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;
}
}
return prearm_ok; return prearm_ok;
} }