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Commander: Allow arming in MANUAL, STAB, ACRO, ALTCTL

This commit is contained in:
Lorenz Meier 2016-02-25 14:12:08 +01:00
parent 755569ac12
commit 94353a9d40
1 changed files with 5 additions and 3 deletions
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8
src/modules/commander/commander.cpp
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@ -2284,9 +2284,11 @@ int commander_thread_main(int argc, char *argv[])
* the system can be armed in auto if armed via the GCS.
*/
if ((status.main_state != vehicle_status_s::MAIN_STATE_MANUAL) &&
(status.main_state != vehicle_status_s::MAIN_STATE_STAB)) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
if ((status.main_state != vehicle_status_s::MAIN_STATE_MANUAL)
&& (status.main_state != vehicle_status_s::MAIN_STATE_ACRO)
&& (status.main_state != vehicle_status_s::MAIN_STATE_STAB)
&& (status.main_state != vehicle_status_s::MAIN_STATE_ALTCTL)) {
print_reject_arm("NOT ARMING: Switch to a manual mode first.");
} else if (!status.condition_home_position_valid &&
geofence_action == geofence_result_s::GF_ACTION_RTL) {