commander: try to fix arm authorization spamming

Signed-off-by: RomanBapst <[email protected]>

src/modules/commander/Commander.cpp

@@ -594,7 +594,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
  return TRANSITION_DENIED;
  }
 
- _health_and_arming_checks.update();
+ _health_and_arming_checks.update(false, true);
 
  if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) {
  tune_negative(true);

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -128,10 +128,15 @@ class Context
 
  bool isArmed() const { return _status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; }
 
+ bool isArmingRequest() const { return _is_arming_request; }
+
+ void setIsArmingRequest(bool is_arming_request) { _is_arming_request = is_arming_request; }
+
  const vehicle_status_s &status() const { return _status; }
 
 private:
  const vehicle_status_s &_status;
+ bool _is_arming_request{false}; // true if we currently have an arming request
 };
 
 

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp

@@ -50,12 +50,14 @@ HealthAndArmingChecks::HealthAndArmingChecks(ModuleParams *parent, vehicle_statu
  _failsafe_flags.home_position_invalid = true;
 }
 
-bool HealthAndArmingChecks::update(bool force_reporting)
+bool HealthAndArmingChecks::update(bool force_reporting, bool is_arming_request)
 {
  _reporter.reset();
 
  _reporter.prepare(_context.status().vehicle_type);
 
+ _context.setIsArmingRequest(is_arming_request);
+
  for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
  if (!_checks[i]) {
  break;

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -83,9 +83,10 @@ class HealthAndArmingChecks : public ModuleParams
  * Run arming checks and report if necessary.
  * This should be called regularly (e.g. 1Hz).
  * @param force_reporting if true, force reporting even if nothing changed
+ * @param is_arming_request if true, then we are running the checks based on an actual arming request
  * @return true if there was a report (also when force_reporting=true)
  */
- bool update(bool force_reporting = false);
+ bool update(bool force_reporting = false, bool is_arming_request = false);
 
  /**
  * Whether arming is possible for a given navigation mode

src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp

@@ -173,7 +173,7 @@ void SystemChecks::checkAndReport(const Context &context, Report &reporter)
  }
 
  // Arm Requirements: authorization
- if (_param_com_arm_auth_req.get() != 0 && !context.isArmed()) {
+ if (_param_com_arm_auth_req.get() != 0 && !context.isArmed() && context.isArmingRequest()) {
  if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
  /* EVENT
  */