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https://github.com/ArduPilot/ardupilot
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Rover: integrate ahrs.pre_arm_check
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@ -42,12 +42,9 @@ bool AP_Arming_Rover::gps_checks(bool display_failure)
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const AP_AHRS &ahrs = AP::ahrs();
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// always check if inertial nav has started and is ready
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if (!ahrs.prearm_healthy()) {
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const char *reason = ahrs.prearm_failure_reason();
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if (reason == nullptr) {
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reason = "AHRS not healthy";
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}
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check_failed(display_failure, "%s", reason);
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char failure_msg[50] = {};
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if (!ahrs.pre_arm_check(failure_msg, sizeof(failure_msg))) {
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check_failed(display_failure, "AHRS: %s", failure_msg);
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return false;
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}
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@ -59,11 +56,8 @@ bool AP_Arming_Rover::gps_checks(bool display_failure)
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// ensure position esetimate is ok
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if (!rover.ekf_position_ok()) {
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const char *reason = ahrs.prearm_failure_reason();
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if (reason == nullptr) {
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reason = "Need Position Estimate";
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}
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check_failed(display_failure, "%s", reason);
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// vehicle level position estimate checks
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check_failed(display_failure, "Need Position Estimate");
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return false;
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}
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