From 26ccac347d89874360e46f49b0f590bd33f63a55 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 4 Apr 2015 10:18:40 +0200 Subject: [PATCH] commander: Go only into armed error state if on low battery and disarmed --- src/modules/commander/commander.cpp | 15 ++++----------- 1 file changed, 4 insertions(+), 11 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9330ef6827..b0cd0b9e43 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1553,17 +1553,10 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY"); status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL; - if (armed.armed) { - arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, - mavlink_fd); - - if (arming_ret == TRANSITION_CHANGED) { - arming_state_changed = true; - } - - } else { - arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, - mavlink_fd); + if (!armed.armed) { + arming_ret = arming_state_transition(&status, &safety, + vehicle_status_s::ARMING_STATE_STANDBY_ERROR, + &armed, true /* fRunPreArmChecks */, mavlink_fd); if (arming_ret == TRANSITION_CHANGED) { arming_state_changed = true;