From 208e320975e68b3b3229f2fb2de76baf94fdf6f3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 29 Mar 2018 23:14:34 -0400 Subject: [PATCH] commander prearm_check is always prearm --- src/modules/commander/commander.cpp | 2 +- src/modules/commander/state_machine_helper.cpp | 6 +++--- src/modules/commander/state_machine_helper.h | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 6ba03bdbc7..2fff9b2650 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -389,7 +389,7 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "check")) { - bool checkres = prearm_check(&mavlink_log_pub, true, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp)); + bool checkres = prearm_check(&mavlink_log_pub, true, &status_flags, battery, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp)); PX4_INFO("Prearm check: %s", checkres ? "OK" : "FAILED"); return 0; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index f8683afa8f..6f7fd41f37 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -136,7 +136,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt (status->rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), arm_requirements & ARM_REQ_GPS_BIT, true, status->is_vtol, true, true, time_since_boot); - prearm_check_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */, status_flags, battery, + prearm_check_ret = prearm_check(mavlink_log_pub, false /* force_report */, status_flags, battery, arm_requirements, time_since_boot); if (!preflight_check) { @@ -1031,7 +1031,7 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c } } -bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report, +bool prearm_check(orb_advert_t *mavlink_log_pub, const bool force_report, vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements, const hrt_abstime &time_since_boot) { @@ -1039,7 +1039,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool f status_flags->condition_system_hotplug_timeout); bool prearm_ok = true; - if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected && prearm) { + if (!status_flags->circuit_breaker_engaged_usb_check && status_flags->usb_connected) { prearm_ok = false; if (reportFailures) { diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 4acec95e70..b63787650f 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -106,7 +106,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos); -bool prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report, +bool prearm_check(orb_advert_t *mavlink_log_pub, const bool force_report, vehicle_status_flags_s *status_flags, const battery_status_s &battery, const uint8_t arm_requirements, const hrt_abstime &time_since_boot);