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AP_Arming: fixed arming checks for no baro

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This commit is contained in:
Andrew Tridgell 2021-01-18 16:32:47 +11:00
parent cd3ac639fe
commit 587ce2fd62
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Arming/AP_Arming.cpp
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@ -201,6 +201,15 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
bool AP_Arming::barometer_checks(bool report) bool AP_Arming::barometer_checks(bool report)
{ {
#ifdef HAL_BARO_ALLOW_INIT_NO_BARO
return true;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (AP::sitl()->baro_count == 0) {
// simulate no baro boards
return true;
}
#endif
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BARO)) { (checks_to_perform & ARMING_CHECK_BARO)) {
if (!AP::baro().all_healthy()) { if (!AP::baro().all_healthy()) {