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Commander: added esc_status prearm checks

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-05-31 13:16:10 +02:00
committed by Beat Küng
parent d06c679252
commit 187a025dfe
6 changed files with 85 additions and 3 deletions
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8
src/modules/commander/state_machine_helper.cpp
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@@ -1010,6 +1010,14 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
}
if (status_flags.condition_escs_error && (arm_requirements & ARM_REQ_ESCS_CHECK_BIT)) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline");
prearm_ok = false;
}
}
return prearm_ok;
}