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commander: Critical fix for arm state machine. Only auto-save if not stored already

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Lorenz Meier
2015-04-25 12:53:58 +02:00
parent 7e81778908
commit c7ecafe99b
1 changed files with 6 additions and 2 deletions
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src/modules/commander/commander.cpp
+6 -2
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@@ -2763,8 +2763,6 @@ void *commander_low_prio_loop(void *arg)
// Update preflight check status
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (((int)(cmd.param1)) == 0) {
int ret = param_load_default();
@@ -2788,9 +2786,15 @@ void *commander_low_prio_loop(void *arg)
}
} else if (((int)(cmd.param1)) == 1) {
int ret = param_save_default();
if (ret == OK) {
if (need_param_autosave) {
need_param_autosave = false;
need_param_autosave_timeout = 0;
}
mavlink_log_info(mavlink_fd, "settings saved");
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);