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AP_Arming: add check for RTL

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Luiz Georg 2022-07-25 18:58:45 -03:00 committed by Randy Mackay
parent ac14c3bba6
commit f6858c59e8
2 changed files with 4 additions and 2 deletions
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5
libraries/AP_Arming/AP_Arming.cpp
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@ -124,7 +124,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Param: MIS_ITEMS
// @DisplayName: Required mission items
// @Description: Bitmask of mission items that are required to be planned in order to arm the aircraft
// @Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint
// @Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL
// @User: Advanced
AP_GROUPINFO("MIS_ITEMS", 7, AP_Arming, _required_mission_items, 0),
@ -797,12 +797,13 @@ bool AP_Arming::mission_checks(bool report)
MIS_ITEM_CHECK check;
MAV_CMD mis_item_type;
const char *type;
} misChecks[5] = {
} misChecks[] = {
{MIS_ITEM_CHECK_LAND, MAV_CMD_NAV_LAND, "land"},
{MIS_ITEM_CHECK_VTOL_LAND, MAV_CMD_NAV_VTOL_LAND, "vtol land"},
{MIS_ITEM_CHECK_DO_LAND_START, MAV_CMD_DO_LAND_START, "do land start"},
{MIS_ITEM_CHECK_TAKEOFF, MAV_CMD_NAV_TAKEOFF, "takeoff"},
{MIS_ITEM_CHECK_VTOL_TAKEOFF, MAV_CMD_NAV_VTOL_TAKEOFF, "vtol takeoff"},
{MIS_ITEM_CHECK_RETURN_TO_LAUNCH, MAV_CMD_NAV_RETURN_TO_LAUNCH, "RTL"},
};
for (uint8_t i = 0; i < ARRAY_SIZE(misChecks); i++) {
if (_required_mission_items & misChecks[i].check) {

1
libraries/AP_Arming/AP_Arming.h
View File

@ -245,6 +245,7 @@ private:
MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
MIS_ITEM_CHECK_RALLY = (1 << 5),
MIS_ITEM_CHECK_RETURN_TO_LAUNCH = (1 << 6),
MIS_ITEM_CHECK_MAX
};