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commander: disable arm_auth request for prearm status continuous publication

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This commit is contained in:
Nicolas MARTIN
2020-12-27 22:23:05 +01:00
committed by GitHub
parent 02a08c42b7
commit e06d218ff2
1 changed files with 6 additions and 1 deletions
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src/modules/commander/Commander.cpp
+6 -1
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@@ -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);
}