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commander once armed safety should only request ARMING_STATE_STANDBY

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This commit is contained in:
Daniel Agar 2018-03-27 16:59:44 -04:00
parent 95ff860f4e
commit f0528d28fb
1 changed files with 1 additions and 4 deletions
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5
src/modules/commander/commander.cpp
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@ -1843,10 +1843,7 @@ Commander::run()
if (armed.armed && (status.hil_state == vehicle_status_s::HIL_STATE_OFF)
&& safety.safety_switch_available && !safety.safety_off) {
arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, battery, safety, new_arming_state, &armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
if (TRANSITION_CHANGED == arming_state_transition(&status, battery, safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, &mavlink_log_pub,
&status_flags, avionics_power_rail_voltage, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp))
) {
status_changed = true;