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Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check

This commit is contained in:
Peter Barker 2018-06-23 22:42:26 +10:00 committed by Andrew Tridgell
parent 6194413829
commit 7785a962dc
1 changed files with 2 additions and 4 deletions
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6
ArduCopter/AP_Arming.cpp
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@ -340,6 +340,8 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
// performs pre_arm gps related checks and returns true if passed
bool AP_Arming_Copter::gps_checks(bool display_failure)
{
AP_Notify::flags.pre_arm_gps_check = false;
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
@ -374,7 +376,6 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
}
}
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
@ -400,7 +401,6 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
// check home and EKF origin are not too far
if (copter.far_from_EKF_origin(ahrs.get_home())) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance");
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
@ -413,13 +413,11 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
// warn about hdop separately - to prevent user confusion with no gps lock
if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
check_failed(ARMING_CHECK_GPS, display_failure, "PreArm: High GPS HDOP");
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// call parent gps checks
if (!AP_Arming::gps_checks(display_failure)) {
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}