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Commander: Re-run preflight check after calibration

This commit is contained in:
Johan Jansen 2015-03-08 14:51:23 +01:00 committed by Lorenz Meier
parent c5a178a777
commit b70138c631
1 changed files with 10 additions and 0 deletions
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10
src/modules/commander/commander.cpp
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@ -2703,12 +2703,22 @@ void *commander_low_prio_loop(void *arg)
tune_negative(true);
}
// Update preflight check status
// we do not set the calibration return value based on it because the calibration
// might have worked just fine, but the preflight check fails for a different reason,
// so this would be prone to false negatives.
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
break;
}
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
// Update preflight check status
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (((int)(cmd.param1)) == 0) {
int ret = param_load_default();