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pre arm check: VTOL: do not allow arming if not in multicopter mode

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-01-28 00:30:24 +01:00
committed by Lorenz Meier
parent 1237402fa4
commit f4df3fb5f2
1 changed files with 7 additions and 0 deletions
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src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+7
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@@ -134,6 +134,13 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
} }
} }
if (status.is_vtol && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode");
prearm_ok = false;
}
}
// Arm Requirements: authorization // Arm Requirements: authorization
// check last, and only if everything else has passed // check last, and only if everything else has passed
if (arm_requirements.arm_authorization && prearm_ok) { if (arm_requirements.arm_authorization && prearm_ok) {