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ArduPlane: make terrain checks common between Copter and Plane

This commit is contained in:
Peter Barker 2022-08-03 22:59:38 +10:00 committed by Peter Barker
parent 67d8965cad
commit 127bf7aa09
2 changed files with 13 additions and 15 deletions
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27
ArduPlane/AP_Arming.cpp
View File

@ -17,6 +17,18 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
// expected to return true if the terrain database is required to have
// all data loaded
bool AP_Arming_Plane::terrain_database_required() const
{
#if AP_TERRAIN_AVAILABLE
if (plane.g.terrain_follow) {
return true;
}
#endif
return AP_Arming::terrain_database_required();
}
/* /*
additional arming checks for plane additional arming checks for plane
@ -78,21 +90,6 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret &= quadplane_checks(display_failure); ret &= quadplane_checks(display_failure);
#endif #endif
#if AP_TERRAIN_AVAILABLE
if (plane.g.terrain_follow || plane.mission.contains_terrain_relative()) {
// check terrain data is loaded and healthy
uint16_t terr_pending=0, terr_loaded=0;
plane.terrain.get_statistics(terr_pending, terr_loaded);
if (plane.terrain.status() != AP_Terrain::TerrainStatusOK) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "terrain data unhealthy");
ret = false;
} else if (terr_pending != 0) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "waiting for terrain data");
ret = false;
}
}
#endif
if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) { if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) {
check_failed(display_failure, "No mission loaded"); check_failed(display_failure, "No mission loaded");
ret = false; ret = false;

1
ArduPlane/AP_Arming.h
View File

@ -32,6 +32,7 @@ public:
protected: protected:
bool ins_checks(bool report) override; bool ins_checks(bool report) override;
bool terrain_database_required() const override;
bool quadplane_checks(bool display_failure); bool quadplane_checks(bool display_failure);
bool mission_checks(bool report) override; bool mission_checks(bool report) override;