From e06d218ff292751c8496a83c94dce3f6bb0ce171 Mon Sep 17 00:00:00 2001 From: Nicolas MARTIN <59083163+NicolasM0@users.noreply.github.com> Date: Sun, 27 Dec 2020 22:23:05 +0100 Subject: [PATCH] commander: disable arm_auth request for prearm status continuous publication --- src/modules/commander/Commander.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index ae6bdb8523..ede0c44d8b 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2632,7 +2632,12 @@ Commander::run() // Evaluate current prearm status if (!_armed.armed && !_status_flags.condition_calibration_enabled) { bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, true, false, true, 30_s); - bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _safety, _arm_requirements, _status, false); + + // skip arm authorization check until actual arming attempt + PreFlightCheck::arm_requirements_t arm_req = _arm_requirements; + arm_req.arm_authorization = false; + bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _safety, arm_req, _status, false); + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res && prearm_check_res), _status); }