Commander: execute pre arm check with preflight checks

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

@@ -68,9 +68,12 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
 		    && !(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)
+			if (!PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, control_mode,
-			    || !PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety_button_available, safety_off,
+							    true, // report_failures
-							    arm_requirements, status)) {
+							    true, // prearm
+							    time_since_boot,
+							    safety_button_available, safety_off,
+							    arm_requirements)) {
 				feedback_provided = true; // Preflight checks report error messages
 				valid_transition = false;
 			}

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp

@@ -52,7 +52,9 @@ static constexpr unsigned max_mandatory_baro_count = 1;
 
 bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 				    vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
-				    bool report_failures, const bool prearm, const hrt_abstime &time_since_boot)
+				    bool report_failures, const bool prearm, const hrt_abstime &time_since_boot,
+				    const bool safety_button_available, const bool safety_off,
+				    const arm_requirements_t &arm_requirements)
 {
 	report_failures = (report_failures && !status_flags.calibration_enabled);
 
@@ -226,6 +228,8 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	failed = failed || !modeCheck(mavlink_log_pub, report_failures, status);
 	failed = failed || !cpuResourceCheck(mavlink_log_pub, report_failures);
 	failed = failed || !parachuteCheck(mavlink_log_pub, report_failures, status_flags);
+	failed = failed || !preArmCheck(mavlink_log_pub, status_flags, control_mode,
+					safety_button_available, safety_off, arm_requirements, status, report_failures);
 
 	/* Report status */
 	return !failed;

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp

@@ -56,6 +56,14 @@ public:
 	PreFlightCheck() = default;
 	~PreFlightCheck() = default;
 
+	struct arm_requirements_t {
+		bool arm_authorization = false;
+		bool esc_check = false;
+		bool global_position = false;
+		bool mission = false;
+		bool geofence = false;
+	};
+
 	/**
 	* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
 	*
@@ -83,20 +91,9 @@ public:
 	**/
 	static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 				   vehicle_status_flags_s &status_flags, const vehicle_control_mode_s &control_mode,
-				   bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
+				   bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot,
-
+				   const bool safety_button_available, const bool safety_off,
-	struct arm_requirements_t {
+				   const arm_requirements_t &arm_requirements);
-		bool arm_authorization = false;
-		bool esc_check = false;
-		bool global_position = false;
-		bool mission = false;
-		bool geofence = false;
-	};
-
-	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
-				const arm_requirements_t &arm_requirements, vehicle_status_s &status,
-				bool report_fail = true);
 
 private:
 	static bool sensorAvailabilityCheck(const bool report_failure,
@@ -138,4 +135,8 @@ private:
 	static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail);
 	static bool parachuteCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
 				   const vehicle_status_flags_s &status_flags);
+	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
+				const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
+				const arm_requirements_t &arm_requirements, vehicle_status_s &status,
+				const bool report_fail);
 };

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -40,7 +40,7 @@
 
 bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
 				 const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
-				 const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
+				 const arm_requirements_t &arm_requirements, vehicle_status_s &status, const bool report_fail)
 {
 	bool prearm_ok = true;
 
@@ -227,6 +227,5 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		}
 	}
 
-
 	return prearm_ok;
 }

src/modules/commander/Commander.cpp

@@ -298,16 +298,14 @@ int Commander::custom_command(int argc, char *argv[])
 
 		bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, vehicle_status, vehicle_status_flags,
 					   vehicle_control_mode,
-					   true, true, 30_s);
+					   true, // report_failures
+					   true, // prearm
+					   30_s,
+					   false, // safety_buttton_available not known
+					   false, // safety_off not known
+					   PreFlightCheck::arm_requirements_t{});
 		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
 
-		bool dummy_safety_button{false};
-		bool dummy_safety_off{false};
-		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode,
-					dummy_safety_button, dummy_safety_off,
-					PreFlightCheck::arm_requirements_t{}, vehicle_status);
-		PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
-
 		print_health_flags(vehicle_status);
 
 		return 0;
@@ -856,7 +854,12 @@ Commander::Commander() :
 
 	// run preflight immediately to find all relevant parameters, but don't report
 	PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
-				       false, true, hrt_elapsed_time(&_boot_timestamp));
+				       false, // report_failures
+				       true, // prearm
+				       hrt_elapsed_time(&_boot_timestamp),
+				       false, // safety_buttton_available not known
+				       false, // safety_off not known,
+				       PreFlightCheck::arm_requirements_t{});
 }
 
 Commander::~Commander()
@@ -3004,19 +3007,19 @@ Commander::run()
 			// Evaluate current prearm status (skip during arm -> disarm transition)
 			if (!actuator_armed_prev.armed && !_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
 				perf_begin(_preflight_check_perf);
-				bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _vehicle_status, _vehicle_status_flags,
-							   _vehicle_control_mode,
-							   false, true, hrt_elapsed_time(&_boot_timestamp));
-				perf_end(_preflight_check_perf);
-
 				// skip arm authorization check until actual arming attempt
 				PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
 				arm_req.arm_authorization = false;
-				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _vehicle_status_flags, _vehicle_control_mode,
+				_vehicle_status_flags.pre_flight_checks_pass = PreFlightCheck::preflightCheck(nullptr, _vehicle_status,
-							_safety.isButtonAvailable(), _safety.isSafetyOff(),
+						_vehicle_status_flags,
-							arm_req, _vehicle_status, false);
+						_vehicle_control_mode,
+						false, // report_failures
+						true, // prearm
+						hrt_elapsed_time(&_boot_timestamp),
+						_safety.isButtonAvailable(), _safety.isSafetyOff(),
+						arm_req);
+				perf_end(_preflight_check_perf);
 
-				_vehicle_status_flags.pre_flight_checks_pass = preflight_check_res && prearm_check_res;
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true,
 						 _vehicle_status_flags.pre_flight_checks_pass, _vehicle_status);
 			}
@@ -3638,8 +3641,14 @@ void Commander::data_link_check()
 
 					if (!_arm_state_machine.isArmed() && !_vehicle_status_flags.calibration_enabled) {
 						// make sure to report preflight check failures to a connecting GCS
+						// skip arm authorization check until actual arming attempt
+						PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
+						arm_req.arm_authorization = false;
 						PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
-									       true, false, hrt_elapsed_time(&_boot_timestamp));
+									       true, // report_failures
+									       false, // prearm
+									       hrt_elapsed_time(&_boot_timestamp),
+									       _safety.isButtonAvailable(), _safety.isSafetyOff(), arm_req);
 					}
 				}