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AP_AHRS: always run external AHRS arming check if enabled

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Iampete1 2022-12-21 13:24:40 +00:00 committed by Andrew Tridgell
parent 8710a651ce
commit f933f148ed
1 changed files with 12 additions and 2 deletions
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14
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2094,6 +2094,16 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
ret = false;
}
#if HAL_EXTERNAL_AHRS_ENABLED
// Always check external AHRS if enabled
// it is a source for IMU data even if not being used as direct AHRS replacment
if (AP::externalAHRS().enabled() || (ekf_type() == EKFType::EXTERNAL)) {
if (!AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len)) {
return false;
}
}
#endif
if (!attitudes_consistent(failure_msg, failure_msg_len)) {
return false;
}
@ -2114,9 +2124,9 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
#if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL:
return AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len) && ret;
return ret;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
if (!_ekf2_started) {