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AP_Arming: convert to new GPS API

This commit is contained in:
Andrew Tridgell 2014-03-30 22:00:34 +11:00
parent eb67948171
commit b7a2db716b
1 changed files with 3 additions and 14 deletions
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17
libraries/AP_Arming/AP_Arming.cpp
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@ -130,22 +130,11 @@ bool AP_Arming::gps_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) {
const GPS *gps = ahrs.get_gps();
//If no GPS and the user has specifically asked to check GPS, then
//there is a problem
if (gps == NULL && (checks_to_perform & ARMING_CHECK_GPS)) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No GPS detected."));
}
return false;
} else if (gps == NULL) {
//assume the user doesn't have a GPS on purpose
return true;
}
const AP_GPS &gps = ahrs.get_gps();
//GPS OK?
if (!home_is_set || gps->status() != GPS::GPS_OK_FIX_3D ||
if (!home_is_set ||
gps.status() < AP_GPS::GPS_OK_FIX_3D ||
AP_Notify::flags.gps_glitching ||
AP_Notify::flags.failsafe_gps) {
if (report) {