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Copter: pre-arm check of GPS configuration

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This commit is contained in:
Randy Mackay 2016-10-08 11:41:45 +09:00
parent 068c310ed5
commit 337461c16c
1 changed files with 14 additions and 0 deletions
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14
ArduCopter/arming_checks.cpp
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@ -535,6 +535,20 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
return true; return true;
} }
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// check GPS configuration has completed
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (display_failure) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
}
return false;
}
#endif
// warn about hdop separately - to prevent user confusion with no gps lock // warn about hdop separately - to prevent user confusion with no gps lock
if (gps.get_hdop() > g.gps_hdop_good) { if (gps.get_hdop() > g.gps_hdop_good) {
if (display_failure) { if (display_failure) {