fix to missing remote ID module handling

Signed-off-by: dirksavage88 <[email protected]>

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

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -47,51 +47,50 @@ void OpenDroneIDChecks::checkAndReport(const Context &context, Report &reporter)
 
 	NavModes affected_modes{NavModes::None};
 
-	if (_open_drone_id_arm_status_sub.copy(&odid_module_arm_status)) {
-
 		if (_param_com_arm_odid.get() == 2) {
 			// disallow arming without the Open Drone ID system
 			affected_modes = NavModes::All;
 		}
+
+		if (_open_drone_id_arm_status_sub.copy(&odid_module_arm_status)) {
 
-		if (!context.status().open_drone_id_system_present) {
+			// Check ODID arm status
+			if (odid_module_arm_status.status == ODID_ARM_FAIL) {
 			/* EVENT
 			* @description
-			* Open Drone ID system failed to report. Make sure it is setup and installed properly.
+			* Open Drone ID system reported being unhealthy.
 			*
 			* <profile name="dev">
-			* This check can be configured via <param>COM_ARM_ODID</param> parameter.
+			* This check can be ignored or set to warning via <param>COM_ARM_ODID</param> parameter.
 			* </profile>
 			*/
 			reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
-						    events::ID("check_open_drone_id_missing"),
-						    events::Log::Error, "Open Drone ID system missing");
+						    events::ID("check_open_drone_id_unhealthy"),
+						    events::Log::Error, "Open Drone ID arm status error");
 
 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID arm status error");
 			}
 
-			// Check ODID arm status
+		}
 
-		} else if (odid_module_arm_status.status == ODID_ARM_FAIL) {
+	} else if (!context.status().open_drone_id_system_present) {
 			/* EVENT
 			* @description
-			* Open Drone ID system reported being unhealthy.
+			* Open Drone ID system failed to report. Make sure it is setup and installed properly.
 			*
 			* <profile name="dev">
-			* This check can be ignored or set to warning via <param>COM_ARM_ODID</param> parameter.
+			* This check can be configured via <param>COM_ARM_ODID</param> parameter.
 			* </profile>
 			*/
 			reporter.armingCheckFailure(affected_modes, health_component_t::open_drone_id,
-						    events::ID("check_open_drone_id_unhealthy"),
-						    events::Log::Error, "Open Drone ID arm status error");
+						    events::ID("check_open_drone_id_missing"),
+						    events::Log::Error, "Open Drone ID system missing");
 
 			if (reporter.mavlink_log_pub()) {
-				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID arm status error");
+				mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Open Drone ID system missing");
 			}
 
 		}
 
-	}
-
 }