From 641f2f856b695c859b9f1fd7a7dd57027dbb24d5 Mon Sep 17 00:00:00 2001
From: AndresRengifo <anferesa239@gmail.com>
Date: Fri, 18 Aug 2017 19:08:51 -0700
Subject: [PATCH] fix: battery prearm check ignored when CBRK_SUPPLY_CHK is
 disabled

---
 src/modules/commander/state_machine_helper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 1525764429..9a0f0b7ec7 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1057,7 +1057,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
 		}
 	}
 
-	if (battery->warning >= battery_status_s::BATTERY_WARNING_LOW) {
+	if (!status_flags->circuit_breaker_engaged_power_check && battery->warning >= battery_status_s::BATTERY_WARNING_LOW) {
 		preflight_ok = false;
 
 		if (reportFailures) {