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Rover: Check all EKF cores for health on arming

This commit is contained in:
Michael du Breuil 2019-03-31 20:41:26 -07:00 committed by Andrew Tridgell
parent 75e5efc16e
commit 4fda39a79a
1 changed files with 13 additions and 1 deletions
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14
APMrover2/AP_Arming.cpp
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@ -42,6 +42,18 @@ bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
// performs pre_arm gps related checks and returns true if passed
bool AP_Arming_Rover::gps_checks(bool display_failure)
{
const AP_AHRS &ahrs = AP::ahrs();
// always check if inertial nav has started and is ready
if (!ahrs.prearm_healthy()) {
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";
}
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
return false;
}
if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
// we don't care!
return true;
@ -55,7 +67,7 @@ bool AP_Arming_Rover::gps_checks(bool display_failure)
// ensure position esetimate is ok
if (!rover.ekf_position_ok()) {
const char *reason = AP::ahrs().prearm_failure_reason();
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
reason = "Need Position Estimate";
}