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fix(commander): Allow arming via RC in autonomous modes

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There's a check to disallow arming in modes that are not suite for takeoff. The allowed autonmous ones are:
Mission - desired
Loiter - does not make sense but needs to be kept for **** MAVLink MAVSDK workflow of first arming then switching mode
Offboard - acceptable advanced case even for RC
Takeoff - desired
VTOL Takeoff - desired
This commit is contained in:
Matthias Grob
2026-04-30 00:44:06 +02:00
parent 0c0be00046
commit 10476200a4
1 changed files with 0 additions and 10 deletions
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src/modules/commander/Commander.cpp
-10
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@@ -654,16 +654,6 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
return TRANSITION_DENIED;
}
}
} else if (calling_reason == arm_disarm_reason_t::stick_gesture
|| calling_reason == arm_disarm_reason_t::rc_switch
|| calling_reason == arm_disarm_reason_t::rc_button) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t");
events::send(events::ID("commander_arm_denied_not_manual"), {events::Log::Critical, events::LogInternal::Info},
"Arming denied: switch to manual mode first");
tune_negative(true);
return TRANSITION_DENIED;
}
_health_and_arming_checks.update(false, true);