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Merge pull request #3053 from PX4/usb_enforce

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Commander: prevent the user from arming the system with USB
This commit is contained in:
Roman Bapst
2015-10-30 17:51:41 +01:00
parent 3898bf6169 55cf08d383
commit 2cf9294c68
2 changed files with 20 additions and 1 deletions
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9
src/modules/commander/state_machine_helper.cpp
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@@ -743,5 +743,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
checkAirspeed = true;
}
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
bool prearm_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
if (status->usb_connected) {
prearm_ok = false;
mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
}
return !prearm_ok;
}