inhibit more sensor checks

src/modules/commander/commander.cpp

@@ -1154,7 +1154,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 	} else {
 		// HIL configuration selected: real sensors will be disabled
-		warnx("autostart_id: %d", autostart_id);
+		warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
 		status.condition_system_sensors_initialized = false;
 		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 	}
@@ -1327,8 +1327,15 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
-						!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+					if (autostart_id > 1999) {
+						(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
+								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+					} else {
+						/* HIL configuration: check only RC input */
+						warnx("new telemetry link connected: checking RC status");
+						(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
+								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
+					}
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;

src/modules/commander/state_machine_helper.cpp

@@ -125,7 +125,8 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 		int prearm_ret = OK;
 
 		/* only perform the check if we have to */
-		if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
+				&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
 			prearm_ret = prearm_check(status, mavlink_fd);
 		}