mirror of https://github.com/ArduPilot/ardupilot
Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check
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6194413829
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7785a962dc
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@ -340,6 +340,8 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
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// performs pre_arm gps related checks and returns true if passed
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// performs pre_arm gps related checks and returns true if passed
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bool AP_Arming_Copter::gps_checks(bool display_failure)
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bool AP_Arming_Copter::gps_checks(bool display_failure)
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{
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{
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AP_Notify::flags.pre_arm_gps_check = false;
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// always check if inertial nav has started and is ready
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// always check if inertial nav has started and is ready
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if (!ahrs.healthy()) {
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if (!ahrs.healthy()) {
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check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
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check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
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@ -374,7 +376,6 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
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}
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}
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}
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}
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check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
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check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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return false;
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}
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}
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@ -400,7 +401,6 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
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// check home and EKF origin are not too far
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// check home and EKF origin are not too far
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if (copter.far_from_EKF_origin(ahrs.get_home())) {
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if (copter.far_from_EKF_origin(ahrs.get_home())) {
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check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance");
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check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance");
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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return false;
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}
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}
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@ -413,13 +413,11 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
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// warn about hdop separately - to prevent user confusion with no gps lock
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// warn about hdop separately - to prevent user confusion with no gps lock
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if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
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if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
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check_failed(ARMING_CHECK_GPS, display_failure, "PreArm: High GPS HDOP");
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check_failed(ARMING_CHECK_GPS, display_failure, "PreArm: High GPS HDOP");
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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return false;
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}
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}
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// call parent gps checks
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// call parent gps checks
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if (!AP_Arming::gps_checks(display_failure)) {
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if (!AP_Arming::gps_checks(display_failure)) {
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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return false;
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}
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}
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