From d230215368911111084646f14300598466070337 Mon Sep 17 00:00:00 2001 From: Tomas Twardzik Date: Thu, 6 Mar 2025 11:10:50 +0100 Subject: [PATCH] [refactor] using less verbose convenience method instead of vehicle_status fields directly --- src/modules/commander/Commander.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 6d89c3f45e..28f20210ac 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -583,8 +583,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ return TRANSITION_DENIED; } - if ((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER - || _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) + if ((is_ground_vehicle(_vehicle_status)) && !_failsafe_flags.manual_control_signal_lost && !_is_throttle_near_center) { mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle not centered\t");