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AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend"

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This commit is contained in:
Peter Barker 2020-12-10 22:14:12 +11:00 committed by Andrew Tridgell
parent 813723d0b7
commit ca41a19072
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1372,16 +1372,20 @@ bool AP_AHRS_NavEKF::healthy(void) const
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
bool AP_AHRS_NavEKF::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
{
bool ret = true;
if (!healthy()) {
// this rather generic failure might be overwritten by
// something more specific in the "backend"
hal.util->snprintf(failure_msg, failure_msg_len, "Not healthy");
ret = false;
}
switch (ekf_type()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SITL:
#endif
case EKFType::NONE:
if (!healthy()) {
hal.util->snprintf(failure_msg, failure_msg_len, "Not healthy");
return false;
}
return true;
return ret;
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
@ -1389,7 +1393,7 @@ bool AP_AHRS_NavEKF::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) c
hal.util->snprintf(failure_msg, failure_msg_len, "EKF2 not started");
return false;
}
return EKF2.pre_arm_check(failure_msg, failure_msg_len);
return EKF2.pre_arm_check(failure_msg, failure_msg_len) && ret;
#endif
#if HAL_NAVEKF3_AVAILABLE
@ -1398,7 +1402,7 @@ bool AP_AHRS_NavEKF::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) c
hal.util->snprintf(failure_msg, failure_msg_len, "EKF3 not started");
return false;
}
return EKF3.pre_arm_check(failure_msg, failure_msg_len);
return EKF3.pre_arm_check(failure_msg, failure_msg_len) && ret;
#endif
}