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https://github.com/ArduPilot/ardupilot
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AP_Arming: use callback in place of variable reference for home state
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@ -75,12 +75,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
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//The function point is particularly hacky, hacky, tacky
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//but I don't want to reimplement messaging to GCS at the moment:
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AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery, const enum HomeState &home_set) :
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const AP_BattMonitor &battery) :
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ahrs(ahrs_ref),
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barometer(baro),
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_compass(compass),
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_battery(battery),
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home_is_set(home_set),
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armed(false),
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arming_method(NONE)
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{
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@ -337,7 +336,7 @@ bool AP_Arming::gps_checks(bool report)
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if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
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//GPS OK?
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if (home_is_set == HOME_UNSET ||
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if (home_status() == HOME_UNSET ||
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gps.status() < AP_GPS::GPS_OK_FIX_3D) {
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if (report) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");
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@ -44,7 +44,7 @@ public:
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};
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AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery, const enum HomeState &home_set);
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const AP_BattMonitor &battery);
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ArmingRequired arming_required();
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virtual bool arm(uint8_t method);
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@ -78,7 +78,6 @@ protected:
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const AP_Baro &barometer;
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Compass &_compass;
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const AP_BattMonitor &_battery;
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const enum HomeState &home_is_set;
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// internal members
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bool armed:1;
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@ -108,4 +107,6 @@ protected:
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bool board_voltage_checks(bool report);
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bool manual_transmitter_checks(bool report);
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virtual enum HomeState home_status() const = 0;
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};
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