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AP_Arming: setup for terrain adjustment on arming

This commit is contained in:
Andrew Tridgell 2022-03-28 08:27:19 +11:00
parent 536b59ed42
commit ed8f028359
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_Arming/AP_Arming.cpp
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@ -1369,6 +1369,17 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
gcs().send_text(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled"); gcs().send_text(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
} }
#if AP_TERRAIN_AVAILABLE
if (armed) {
// tell terrain we have just armed, so it can setup
// a reference location for terrain adjustment
auto *terrain = AP::terrain();
if (terrain != nullptr) {
terrain->set_reference_location();
}
}
#endif
return armed; return armed;
} }