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preflight check: only conduct if pre-armed

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This commit is contained in:
Balduin 2025-02-19 14:03:24 +01:00
parent 6e5f3a6099
commit dea58db757
1 changed files with 3 additions and 1 deletions
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4
src/modules/commander/Commander.cpp
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@ -1871,7 +1871,9 @@ void Commander::run()
_status_changed = true;
}
if (!isArmed()) {
// do the control surface preflight check only if pre-armed. this means we need:
// COM_PREARM_MODE = 1 (Safety Button) or 2 (Always).
if (_actuator_armed.prearmed) {
if (_param_com_do_cs_check.get()) {
_prev_nav_state = _vehicle_status.nav_state;
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK);