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Commander: Improved logic for OA prearm checks.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-03-12 14:02:20 +01:00
committed by Julian Oes
parent 977a4c8e9b
commit f4a4dab65a
4 changed files with 21 additions and 5 deletions
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4
src/modules/commander/state_machine_helper.cpp
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@@ -999,9 +999,9 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
}
}
if (!status_flags.avoidance_system_valid) {
if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
if (prearm_ok && reportFailures) {
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: AVOIDANCE SYSTEM NOT READY");
mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Avoidance system not ready");
}
prearm_ok = false;