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Sub: use check_failed function

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This commit is contained in:
Peter Barker 2017-08-09 21:37:41 +10:00
parent 23919daf11
commit fd055bfa58
1 changed files with 8 additions and 11 deletions
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19
ArduSub/AP_Arming_Sub.cpp
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@ -12,19 +12,19 @@ bool AP_Arming_Sub::rc_calibration_checks(bool display_failure)
return rc_checks_copter_sub(display_failure, channels, false /* check_min_max */);
}
bool AP_Arming_Sub::pre_arm_checks(bool report)
bool AP_Arming_Sub::pre_arm_checks(bool display_failure)
{
if (armed) {
return true;
}
return AP_Arming::pre_arm_checks(report);
return AP_Arming::pre_arm_checks(display_failure);
}
bool AP_Arming_Sub::ins_checks(bool report)
bool AP_Arming_Sub::ins_checks(bool display_failure)
{
// call parent class checks
if (!AP_Arming::ins_checks(report)) {
if (!AP_Arming::ins_checks(display_failure)) {
return false;
}
@ -32,14 +32,11 @@ bool AP_Arming_Sub::ins_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!ahrs.healthy()) {
if (report) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
}
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";
}
check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
return false;
}
}