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ArduPlane: AP_Arming ensures mission items present when in auto mode 

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
This commit is contained in:
Peter Barker 2023-04-12 15:23:26 +10:00 committed by Peter Barker
parent 96fa96936b
commit 43c6bb3864
2 changed files with 4 additions and 5 deletions
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5
ArduPlane/AP_Arming.cpp
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@ -95,11 +95,6 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
ret &= quadplane_checks(display_failure); ret &= quadplane_checks(display_failure);
#endif #endif
if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) {
check_failed(display_failure, "No mission loaded");
ret = false;
}
// check adsb avoidance failsafe // check adsb avoidance failsafe
if (plane.failsafe.adsb) { if (plane.failsafe.adsb) {
check_failed(display_failure, "ADSB threat detected"); check_failed(display_failure, "ADSB threat detected");

4
ArduPlane/Plane.h
View File

@ -974,6 +974,10 @@ private:
bool mode_allows_autotuning(void); bool mode_allows_autotuning(void);
uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); } uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
Mode *mode_from_mode_num(const enum Mode::Number num); Mode *mode_from_mode_num(const enum Mode::Number num);
bool current_mode_requires_mission() const override {
return control_mode == &mode_auto;
}
bool autotuning; bool autotuning;
// events.cpp // events.cpp