mirror of https://github.com/ArduPilot/ardupilot
Copter: update terrain db pre-arm checks
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@ -162,6 +162,12 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
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// all data loaded
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// all data loaded
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bool AP_Arming_Copter::terrain_database_required() const
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bool AP_Arming_Copter::terrain_database_required() const
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{
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{
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if (copter.wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER) {
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// primary terrain source is from rangefinder, allow arming without terrain database
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return false;
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}
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if (copter.wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE &&
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if (copter.wp_nav->get_terrain_source() == AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE &&
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copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
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copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
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return true;
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return true;
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