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AP_Terrain: move terrain prearm checks to AP_Terrain

This commit is contained in:
Peter Barker 2022-08-04 10:38:42 +10:00 committed by Peter Barker
parent 96ef34acac
commit d688e6068b
2 changed files with 15 additions and 0 deletions
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13
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -364,6 +364,19 @@ void AP_Terrain::update(void)
}
bool AP_Terrain::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) const
{
// check no outstanding requests for data:
uint16_t terr_pending, terr_loaded;
get_statistics(terr_pending, terr_loaded);
if (terr_pending != 0) {
hal.util->snprintf(failure_msg, failure_msg_len, "waiting for terrain data");
return false;
}
return true;
}
void AP_Terrain::log_terrain_data()
{
if (!allocate()) {

2
libraries/AP_Terrain/AP_Terrain.h
View File

@ -107,6 +107,8 @@ public:
// return status enum for health reporting
enum TerrainStatus status(void) const { return system_status; }
bool pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) const;
// send any pending terrain request message
bool send_cache_request(mavlink_channel_t chan);
void send_request(mavlink_channel_t chan);