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Copter: fix mode and fence gps check fail message

This commit is contained in:
chobits 2020-04-16 10:09:36 +08:00 committed by Randy Mackay
parent ebd2e15a6e
commit 8ce27afba0
1 changed files with 16 additions and 17 deletions
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33
ArduCopter/AP_Arming.cpp
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@ -523,24 +523,23 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif
// return true if GPS is not required
if (!mode_requires_gps && !fence_requires_gps) {
return true;
}
// ensure GPS is ok
if (!copter.position_ok()) {
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
if (!mode_requires_gps && fence_requires_gps) {
// clarify to user why they need GPS in non-GPS flight mode
reason = "Fence enabled, need 3D Fix";
} else {
reason = "Need 3D Fix";
}
if (mode_requires_gps) {
if (!copter.position_ok()) {
// There is no need to call prearm_failure_reason again, because prearm_healthy sure be true if we reach here
check_failed(display_failure, "Need 3D Fix");
return false;
}
} else {
if (fence_requires_gps) {
if (!copter.position_ok()) {
// clarify to user why they need GPS in non-GPS flight mode
check_failed(display_failure, "Fence enabled, need 3D Fix");
return false;
}
} else {
// return true if GPS is not required
return true;
}
check_failed(display_failure, "%s", reason);
return false;
}
// check for GPS glitch (as reported by EKF)