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Rover: AP_Arming ensures mission items present when in auto mode

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Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
This commit is contained in:
Peter Barker 2023-04-12 15:23:26 +10:00 committed by Peter Barker
parent 43c6bb3864
commit 941bb6a45b
2 changed files with 4 additions and 3 deletions
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3
Rover/AP_Arming.cpp
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@ -196,9 +196,6 @@ bool AP_Arming_Rover::mode_checks(bool report)
if (!rover.control_mode->allows_arming()) { if (!rover.control_mode->allows_arming()) {
check_failed(report, "Mode not armable"); check_failed(report, "Mode not armable");
return false; return false;
} else if (rover.control_mode == &rover.mode_auto && rover.mode_auto.mission.num_commands() <= 1) {
check_failed(report, "AUTO requires mission");
return false;
} }
return true; return true;
} }

4
Rover/Rover.h
View File

@ -362,6 +362,10 @@ private:
bool set_mode(Mode &new_mode, ModeReason reason); bool set_mode(Mode &new_mode, ModeReason reason);
bool set_mode(const uint8_t new_mode, ModeReason reason) override; bool set_mode(const uint8_t new_mode, ModeReason reason) override;
uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); } uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
bool current_mode_requires_mission() const override {
return control_mode == &mode_auto;
}
void startup_INS_ground(void); void startup_INS_ground(void);
void notify_mode(const Mode *new_mode); void notify_mode(const Mode *new_mode);
uint8_t check_digital_pin(uint8_t pin); uint8_t check_digital_pin(uint8_t pin);