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commander: pass in correct time since boot

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This fixes the case where the preflight check fail right after the start
and report "sensors unstable".
This commit is contained in:
Julian Oes
2021-03-17 16:36:17 +01:00
committed by Daniel Agar
parent 19533377b3
commit 2f024a9a8a
1 changed files with 2 additions and 1 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -2479,7 +2479,8 @@ Commander::run()
// Evaluate current prearm status
if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, false, true, 30_s);
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, false, true,
hrt_elapsed_time(&_boot_timestamp));
// skip arm authorization check until actual arming attempt
PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;