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Remove duplicate code in the arming check

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Lorenz Meier
2014-06-26 12:14:49 +02:00
parent a1132580c5
commit 690edbd672
1 changed files with 5 additions and 4 deletions
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9
src/modules/commander/commander.cpp
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@@ -1232,12 +1232,13 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("#audio: NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {
/* we check outside of the transition function here because the requirement
* for being in manual mode only applies to manual arming actions.
* the system can be armed in auto if armed via the GCS.
*/
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
}