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Copter: arming check for gps if GPS FS set to LAND_EVEN_STABILIZE

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Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.
This commit is contained in:
Randy Mackay 2013-11-18 23:59:26 +09:00
parent 999f4bf289
commit 514568afcf
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/motors.pde
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@ -289,7 +289,7 @@ static void pre_arm_checks(bool display_failure)
// check GPS
if ((g.arming_check_enabled == ARMING_CHECK_ALL) || (g.arming_check_enabled & ARMING_CHECK_GPS)) {
// check gps is ok if required - note this same check is repeated again in arm_checks
if (mode_requires_GPS(control_mode) && !pre_arm_gps_checks()) {
if ((mode_requires_GPS(control_mode) || g.failsafe_gps_enabled == FS_GPS_LAND_EVEN_STABILIZE) && !pre_arm_gps_checks()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
}
@ -439,7 +439,7 @@ static bool arm_checks(bool display_failure)
// check gps is ok if required - note this same check is also done in pre-arm checks
if ((g.arming_check_enabled == ARMING_CHECK_ALL) || (g.arming_check_enabled & ARMING_CHECK_GPS)) {
if (mode_requires_GPS(control_mode) && !pre_arm_gps_checks()) {
if ((mode_requires_GPS(control_mode) || g.failsafe_gps_enabled == FS_GPS_LAND_EVEN_STABILIZE) && !pre_arm_gps_checks()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Bad GPS Pos"));
}