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AP_Arming: home state has moved to AP_AHRS

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This commit is contained in:
Peter Barker 2018-03-16 12:06:04 +11:00 committed by Randy Mackay
parent 3a5807ae56
commit cc5af90d1a
2 changed files with 1 additions and 3 deletions
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2
libraries/AP_Arming/AP_Arming.cpp
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@ -346,7 +346,7 @@ bool AP_Arming::gps_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) { if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
//GPS OK? //GPS OK?
if (home_status() == HOME_UNSET || if (!AP::ahrs().home_is_set() ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) { gps.status() < AP_GPS::GPS_OK_FIX_3D) {
if (report) { if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Bad GPS Position");

2
libraries/AP_Arming/AP_Arming.h
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@ -104,8 +104,6 @@ protected:
bool manual_transmitter_checks(bool report); bool manual_transmitter_checks(bool report);
virtual enum HomeState home_status() const = 0;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4], const bool check_min_max = true) const; bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4], const bool check_min_max = true) const;
}; };