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AP_Arming: AP_Arming ensures mission items present when in auto mode

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Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
This commit is contained in:
Peter Barker 2023-04-12 15:23:25 +10:00 committed by Peter Barker
parent 9e0c83503e
commit e0d1a5c8d2
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_Arming/AP_Arming.cpp
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@ -53,6 +53,7 @@
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
@ -855,6 +856,15 @@ bool AP_Arming::mission_checks(bool report)
check_failed(ARMING_CHECK_MISSION, report, "Failed to open %s", AP_MISSION_SDCARD_FILENAME);
}
#endif
// do not allow arming if there are no mission items and we are in
// (e.g.) AUTO mode
if (AP::vehicle()->current_mode_requires_mission() &&
(mission == nullptr || mission->num_commands() <= 1)) {
check_failed(ARMING_CHECK_MISSION, report, "Mode requires mission");
return false;
}
return true;
}