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commander: skip continuous preflight check if calibrating

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This commit is contained in:
Daniel Agar
2020-05-04 13:46:31 -04:00
parent 6705ac3e3b
commit 7bb256f4b7
1 changed files with 2 additions and 3 deletions
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src/modules/commander/Commander.cpp
+2 -3
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@@ -2315,10 +2315,9 @@ Commander::run()
status_flags.timestamp = hrt_absolute_time(); status_flags.timestamp = hrt_absolute_time();
// Evaluate current prearm status // Evaluate current prearm status
if (!armed.armed) { if (!armed.armed && !status_flags.condition_calibration_enabled) {
bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, false, true, 30_s); bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, false, true, 30_s);
bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, _safety, bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, _safety, _arm_requirements, status, false);
_arm_requirements, status, false);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res
&& prearm_check_res), status); && prearm_check_res), status);
} }