commander: flight termination, require arming

src/modules/commander/commander.cpp

@@ -1311,7 +1311,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
 
 			/* Check for geofence violation */
-			if (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination) {
+			if (armed.armed && (pos_sp_triplet.geofence_violated || pos_sp_triplet.flight_termination)) {
 				//XXX: make this configurable to select different actions (e.g. navigation modes)
 				/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
 				armed.force_failsafe = true;
@@ -1580,6 +1580,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* Check for failure combinations which lead to flight termination */
+		if (armed.armed) {
 			/* At this point the data link and the gps system have been checked
 			 * If both failed we want to terminate the flight */
 			if ((status.data_link_lost && status.gps_failure) ||
@@ -1604,6 +1605,7 @@ int commander_thread_main(int argc, char *argv[])
 				warnx("Flight termination because of RC signal loss && gps failure");
 				mavlink_log_critical(mavlink_fd, "RC and GPS lost: flight termination");
 			}
+		}
 
 
 		hrt_abstime t1 = hrt_absolute_time();