Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: integrate ahrs.pre_arm_check

This commit is contained in:
Randy Mackay 2020-08-11 14:04:10 +09:00 committed by Peter Barker
parent eeb1a1846c
commit eeaf135cca
2 changed files with 7 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduCopter/AP_Arming.cpp
View File

@ -509,12 +509,9 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
{
// always check if inertial nav has started and is ready
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
if (!ahrs.prearm_healthy()) {
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";
}
check_failed(display_failure, "%s", reason);
char failure_msg[50] = {};
if (!ahrs.pre_arm_check(failure_msg, sizeof(failure_msg))) {
check_failed(display_failure, "%s", failure_msg);
return false;
}
@ -530,7 +527,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
if (mode_requires_gps) {
if (!copter.position_ok()) {
// There is no need to call prearm_failure_reason again, because prearm_healthy sure be true if we reach here
// vehicle level position estimate checks
check_failed(display_failure, "Need Position Estimate");
return false;
}

9
ArduPlane/AP_Arming.cpp
View File

@ -124,12 +124,9 @@ bool AP_Arming_Plane::ins_checks(bool display_failure)
// additional plane specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().prearm_healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";
}
check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
char failure_msg[50] = {};
if (!AP::ahrs().pre_arm_check(failure_msg, sizeof(failure_msg))) {
check_failed(ARMING_CHECK_INS, display_failure, "%s", failure_msg);
return false;
}
}