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Copter: AP_Arming calls parent's gps checks 

Allows removing some duplicate code
This commit is contained in:
Randy Mackay 2017-03-09 10:59:07 +09:00
parent e398bb5c68
commit b30d743812
2 changed files with 6 additions and 15 deletions
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19
ArduCopter/AP_Arming.cpp
View File

@ -464,20 +464,6 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
return true;
}
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// check GPS configuration has completed
uint8_t first_unconfigured = copter.gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (display_failure) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
copter.gps.broadcast_first_configuration_failure_reason();
}
return false;
}
#endif
// warn about hdop separately - to prevent user confusion with no gps lock
if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
if (display_failure) {
@ -487,6 +473,11 @@ bool AP_Arming_Copter::pre_arm_gps_checks(bool display_failure)
return false;
}
// call parent gps checks
if (!AP_Arming::gps_checks(display_failure)) {
return false;
}
// if we got here all must be ok
AP_Notify::flags.pre_arm_gps_check = true;
return true;

2
ArduCopter/AP_Arming.h
View File

@ -31,9 +31,9 @@ protected:
// NOTE! the following check functions *DO* call into AP_Arming:
bool ins_checks(bool display_failure) override;
bool compass_checks(bool display_failure) override;
bool gps_checks(bool display_failure) override;
// NOTE! the following check functions *DO NOT* call into AP_Arming!
bool gps_checks(bool display_failure);
bool fence_checks(bool display_failure);
bool board_voltage_checks(bool display_failure);
bool parameter_checks(bool display_failure);