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AP_Arming: add support for GPS_Backends to spew failure reasons

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bugobliterator 2020-12-28 19:29:33 +05:30 committed by Randy Mackay
parent 06a40da355
commit 67be2ed4ba
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_Arming/AP_Arming.cpp
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@ -463,6 +463,18 @@ bool AP_Arming::gps_checks(bool report)
const AP_GPS &gps = AP::gps();
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
// Any failure messages from GPS backends
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) {
char failure_msg[50] = {};
if (!AP::gps().backends_healthy(failure_msg, ARRAY_SIZE(failure_msg))) {
if (failure_msg[0] != '\0') {
check_failed(ARMING_CHECK_GPS, report, "%s", failure_msg);
}
return false;
}
}
//GPS OK?
if (!AP::ahrs().home_is_set() ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {