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Rover: Allowed to arm in Manual mode without GPS

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This commit is contained in:
Tatsuya Yamaguchi 2019-06-02 13:05:32 +09:00 committed by Randy Mackay
parent b6bfc8947f
commit e18b3cac6b
1 changed files with 5 additions and 5 deletions
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10
APMrover2/AP_Arming.cpp
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@ -42,6 +42,11 @@ bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
// performs pre_arm gps related checks and returns true if passed // performs pre_arm gps related checks and returns true if passed
bool AP_Arming_Rover::gps_checks(bool display_failure) bool AP_Arming_Rover::gps_checks(bool display_failure)
{ {
if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
// we don't care!
return true;
}
const AP_AHRS &ahrs = AP::ahrs(); const AP_AHRS &ahrs = AP::ahrs();
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
@ -54,11 +59,6 @@ bool AP_Arming_Rover::gps_checks(bool display_failure)
return false; return false;
} }
if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
// we don't care!
return true;
}
// check for ekf failsafe // check for ekf failsafe
if (rover.failsafe.ekf) { if (rover.failsafe.ekf) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF failsafe"); check_failed(ARMING_CHECK_NONE, display_failure, "EKF failsafe");