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AP_Arming: check status and health of all GPS

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Iampete1 2021-08-19 12:48:08 +01:00 committed by Andrew Tridgell
parent de9f8a9320
commit ce56bfe786
1 changed files with 27 additions and 8 deletions
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35
libraries/AP_Arming/AP_Arming.cpp
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@ -488,16 +488,35 @@ bool AP_Arming::gps_checks(bool report)
return false;
}
//GPS OK?
if (!AP::ahrs().home_is_set() ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {
check_failed(ARMING_CHECK_GPS, report, "Bad GPS Position");
return false;
for (uint8_t i = 0; i < gps.num_sensors(); i++) {
#if defined(GPS_BLENDED_INSTANCE)
if ((i != GPS_BLENDED_INSTANCE) &&
#else
if (
#endif
(gps.get_type(i) == AP_GPS::GPS_Type::GPS_TYPE_NONE)) {
if (gps.primary_sensor() == i) {
check_failed(ARMING_CHECK_GPS, report, "GPS %i: primary but not configured", i+1);
return false;
}
continue;
}
//GPS OK?
if (gps.status(i) < AP_GPS::GPS_OK_FIX_3D) {
check_failed(ARMING_CHECK_GPS, report, "GPS %i: Bad fix", i+1);
return false;
}
//GPS update rate acceptable
if (!gps.is_healthy(i)) {
check_failed(ARMING_CHECK_GPS, report, "GPS %i: not healthy", i+1);
return false;
}
}
//GPS update rate acceptable
if (!gps.is_healthy()) {
check_failed(ARMING_CHECK_GPS, report, "GPS is not healthy");
if (!AP::ahrs().home_is_set()) {
check_failed(ARMING_CHECK_GPS, report, "GPS: waiting for home");
return false;
}