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AP_ExternalAHRS: check for origin in pre-arm check

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Andrew Tridgell 2024-02-27 09:38:55 +11:00 committed by Peter Barker
parent c6c0de9889
commit c536532b40
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
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@ -236,6 +236,10 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
return false; return false;
} }
if (!state.have_origin) {
hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: No origin");
return false;
}
return backend->pre_arm_check(failure_msg, failure_msg_len); return backend->pre_arm_check(failure_msg, failure_msg_len);
} }