From 324205e37a5b7677eca89b1f51abdebd93e383e6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Feb 2024 09:38:55 +1100
Subject: [PATCH] AP_ExternalAHRS: check for origin in pre-arm check

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 6b91943c65..cbcc394fb0 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -236,6 +236,10 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
         return false;
     }
 
+    if (!state.have_origin) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: No origin");
+        return false;
+    }
     return backend->pre_arm_check(failure_msg, failure_msg_len);
 }