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AP_GPS: added arming checks for yaw available on ublox RTK rover

This commit is contained in:
Andrew Tridgell 2021-07-29 16:16:08 +10:00
parent c539fe9bc2
commit 9ed2e35229
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -1874,15 +1874,21 @@ bool AP_GPS::prepare_for_arming(void) {
}
bool AP_GPS::backends_healthy(char failure_msg[], uint16_t failure_msg_len) {
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
if (_type[i] == GPS_TYPE_UAVCAN) {
if (!AP_GPS_UAVCAN::backends_healthy(failure_msg, failure_msg_len)) {
return false;
}
}
}
#endif
if (_type[i] == GPS_TYPE_UBLOX_RTK_ROVER) {
if (AP_HAL::millis() - state[i].gps_yaw_time_ms > 15000) {
hal.util->snprintf(failure_msg, failure_msg_len, "GPS[%u] yaw not available", unsigned(i+1));
return false;
}
}
}
return true;
}