ArmStateMachine: simplify how preflight checks are called

src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp

@@ -53,55 +53,30 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
 	transition_result_t ret = TRANSITION_DENIED;
 	bool feedback_provided = false;
 
-	const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
-
 	/* only check transition if the new state is actually different from the current one */
 	if (new_arming_state == _arm_state) {
 		ret = TRANSITION_NOT_CHANGED;
 
 	} else {
-		bool preflight_check_ret = true;
-
-		/* only perform the pre-arm check if we have to */
-		if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
-		    && !hil_enabled) {
-
-			preflight_check_ret =
-				PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode, true, true, time_since_boot);
-
-			feedback_provided = true;
-		}
-
 		// Check that we have a valid state transition
 		bool valid_transition = arming_transitions[new_arming_state][_arm_state];
 
-		if (valid_transition) {
-			// We have a good transition. Now perform any secondary validation.
-			if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-
-				//      Do not perform pre-arm checks if coming from in air restore
-				//      Allow if vehicle_status_s::HIL_STATE_ON
-				if (_arm_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE) {
-
-					bool prearm_check_ret = true;
-
-					if (fRunPreArmChecks && preflight_check_ret) {
-						// only bother running prearm if preflight was successful
-						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode,
-								   safety_button_available, safety_off,
-								   arm_requirements, status);
-					}
-
-					if (!preflight_check_ret || !prearm_check_ret) {
-						// the prearm and preflight checks already print the rejection reason
-						feedback_provided = true;
-						valid_transition = false;
-					}
-				}
+		// Preflight check
+		if (valid_transition
+		    && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
+		    && fRunPreArmChecks
+		    && !(status.hil_state == vehicle_status_s::HIL_STATE_ON)
+		    && (_arm_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE)) {
+
+			if (!PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode, true, true, time_since_boot)
+			    || !PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety_button_available, safety_off,
+							    arm_requirements, status)) {
+				feedback_provided = true; // Preflight checks report error messages
+				valid_transition = false;
 			}
 		}
 
-		if (hil_enabled) {
+		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
 			/* enforce lockdown in HIL */
 			armed.lockdown = true;