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Copter: removed check on target component in arm

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Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
This commit is contained in:
Andrew Tridgell 2014-03-20 09:06:28 +11:00
parent 8a2d16d13d
commit a345a9d993
1 changed files with 9 additions and 13 deletions
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22
ArduCopter/GCS_Mavlink.pde
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@ -1240,22 +1240,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true)) {
init_arm_motors();
result = MAV_RESULT_ACCEPTED;
}else{
result = MAV_RESULT_UNSUPPORTED;
}
} else if (packet.param1 == 0.0f) {
init_disarm_motors();
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true)) {
init_arm_motors();
result = MAV_RESULT_ACCEPTED;
} else {
}else{
result = MAV_RESULT_UNSUPPORTED;
}
} else if (packet.param1 == 0.0f) {
init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
}