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Plane: check that RTL_AUTOLAND is set if using DO_LAND_START

This commit is contained in:
Andrew Tridgell 2022-03-12 17:53:58 +11:00
parent 3cef6b8167
commit 6e3a2663bf
2 changed files with 14 additions and 0 deletions
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13
ArduPlane/AP_Arming.cpp
View File

@ -361,3 +361,16 @@ void AP_Arming_Plane::update_soft_armed()
}
}
/*
extra plane mission checks
*/
bool AP_Arming_Plane::mission_checks(bool report)
{
// base checks
bool ret = AP_Arming::mission_checks(report);
if (plane.mission.get_landing_sequence_start() > 0 && plane.g.rtl_autoland.get() == 0) {
ret = false;
check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled");
}
return ret;
}

1
ArduPlane/AP_Arming.h
View File

@ -34,6 +34,7 @@ protected:
bool ins_checks(bool report) override;
bool quadplane_checks(bool display_failure);
bool mission_checks(bool report) override;
private:
void change_arm_state(void);