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Plane: added arming check for terrain data

This commit is contained in:
Andrew Tridgell 2020-06-23 07:24:03 +10:00 committed by Peter Barker
parent bad0120d3c
commit 2e32c753b9
1 changed files with 15 additions and 0 deletions
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15
ArduPlane/AP_Arming.cpp
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@ -78,6 +78,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret &= quadplane_checks(display_failure);
#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) {
check_failed(display_failure, "No mission loaded");
ret = false;