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AP_Arming: do not permit arming if any internal errors have occured

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Peter Barker 2019-04-25 10:57:24 +10:00 committed by Peter Barker
parent 45ebbf2877
commit 776c111d3c
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -24,6 +24,7 @@
#include <AP_Rally/AP_Rally.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_InternalError/AP_InternalError.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
@ -612,7 +613,7 @@ bool AP_Arming::servo_checks(bool report) const
check_passed = false;
}
#endif
return check_passed;
}
@ -655,6 +656,11 @@ bool AP_Arming::system_checks(bool report)
return false;
}
}
if (AP::internalerror().errors() != 0) {
check_failed(ARMING_CHECK_NONE, report, "Internal errors detected (0x%x)", AP::internalerror().errors());
return false;
}
return true;
}