From f2104217d4debaee40a87f27dd31d45afba4fd76 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 29 Mar 2018 23:18:53 -0400
Subject: [PATCH] commander arm_auth check last

---
 .../commander/state_machine_helper.cpp        | 32 +++++++++++--------
 1 file changed, 19 insertions(+), 13 deletions(-)

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 9c433a450e..353ced0459 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -970,7 +970,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 	}
 
 	// Arm Requirements: mission
-	if (prearm_ok && (arm_requirements & ARM_REQ_MISSION_BIT)) {
+	if (arm_requirements & ARM_REQ_MISSION_BIT) {
 
 		if (!status_flags.condition_auto_mission_available) {
 			if (prearm_ok && reportFailures) {
@@ -990,24 +990,21 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 	}
 
 	// Arm Requirements: global position
-	if ((arm_requirements & ARM_REQ_GPS_BIT) && (!status_flags.condition_global_position_valid)) {
-		if (prearm_ok && reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
-		}
+	if (arm_requirements & ARM_REQ_GPS_BIT) {
 
-		prearm_ok = false;
-	}
+		if (!status_flags.condition_global_position_valid) {
+			if (prearm_ok && reportFailures) {
+				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
+			}
 
-	// Arm Requirements: authorization
-	if (arm_requirements & ARM_REQ_ARM_AUTH_BIT) {
-		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
-			// feedback provided in arm_auth_check
 			prearm_ok = false;
 		}
+
+
 	}
 
-	// safety button (check last)
-	if (prearm_ok && safety.safety_switch_available && !safety.safety_off) {
+	// safety button
+	if (safety.safety_switch_available && !safety.safety_off) {
 		// Fail transition if we need safety switch press
 		if (prearm_ok && reportFailures) {
 			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Press safety switch first");
@@ -1016,5 +1013,14 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		prearm_ok = false;
 	}
 
+	// Arm Requirements: authorization
+	// check last, and only if everything else has passed
+	if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
+		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
+			// feedback provided in arm_auth_check
+			prearm_ok = false;
+		}
+	}
+
 	return prearm_ok;
 }