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Copter: do common gps arming checks first before moving on

This commit is contained in:
Siddharth Purohit 2021-03-03 14:20:09 +05:30 committed by Randy Mackay
parent 5074b6d336
commit da7d34224d
1 changed files with 17 additions and 15 deletions
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32
ArduCopter/AP_Arming.cpp
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@ -417,15 +417,6 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
// performs pre_arm gps related checks and returns true if passed
bool AP_Arming_Copter::gps_checks(bool display_failure)
{
// run mandatory gps checks first
if (!mandatory_gps_checks(display_failure)) {
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// check if flight mode requires GPS
bool mode_requires_gps = copter.flightmode->requires_GPS();
// check if fence requires GPS
bool fence_requires_gps = false;
#if AC_FENCE == ENABLED
@ -433,6 +424,23 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif
// check if flight mode requires GPS
bool mode_requires_gps = copter.flightmode->requires_GPS();
// call parent gps checks
if (mode_requires_gps || fence_requires_gps) {
if (!AP_Arming::gps_checks(display_failure)) {
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
}
// run mandatory gps checks first
if (!mandatory_gps_checks(display_failure)) {
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// return true if GPS is not required
if (!mode_requires_gps && !fence_requires_gps) {
AP_Notify::flags.pre_arm_gps_check = true;
@ -452,12 +460,6 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
return false;
}
// call parent gps checks
if (!AP_Arming::gps_checks(display_failure)) {
AP_Notify::flags.pre_arm_gps_check = false;
return false;
}
// if we got here all must be ok
AP_Notify::flags.pre_arm_gps_check = true;
return true;