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commander arming_state_transition cleanup preflight and prearm calls

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- only call prearm if preflight passes
 - prearm always provide feedback
This commit is contained in:
Daniel Agar
2018-03-29 23:14:34 -04:00
parent 208e320975
commit bb13b602e2
5 changed files with 33 additions and 38 deletions
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2
src/modules/commander/PreflightCheck.cpp
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@@ -570,7 +570,7 @@ out:
}
bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool checkAirspeed, bool checkRC, bool checkGNSS,
bool checkDynamic, bool isVTOL, bool reportFailures, bool prearm, hrt_abstime time_since_boot)
bool checkDynamic, bool isVTOL, bool reportFailures, bool prearm, const hrt_abstime& time_since_boot)
{
if (time_since_boot < 2000000) {