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commander: allow arming from RC with safety enabled in HIL mode

This commit is contained in:
Anton Babushkin 2014-02-16 19:46:57 +01:00
parent 92578e1fc3
commit 44c095b9e5
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/commander.cpp
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@ -430,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
arming_res = TRANSITION_NOT_CHANGED;
if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@ -516,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
if (safety->safety_switch_available && !safety->safety_off) {
if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
arming_res = TRANSITION_DENIED;
@ -1156,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.arming_state == ARMING_STATE_STANDBY &&
sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
} else if (status.main_state != MAIN_STATE_MANUAL) {