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AP_Arming: Collapse GPS checks into the same branch

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Michael du Breuil 2017-08-29 13:33:33 -07:00 committed by Francisco Ferreira
parent 3ab9b75df0
commit bde1b6e886
1 changed files with 14 additions and 16 deletions
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30
libraries/AP_Arming/AP_Arming.cpp
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@ -357,23 +357,8 @@ bool AP_Arming::gps_checks(bool report)
} }
return false; return false;
} }
}
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) { // check GPSs are within 50m of each other and that blending is healthy
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
}
return false;
}
}
// check GPSs are within 50m of each other and that blending is healthy
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
float distance_m; float distance_m;
if (!gps.all_consistent(distance_m)) { if (!gps.all_consistent(distance_m)) {
if (report) { if (report) {
@ -391,6 +376,19 @@ bool AP_Arming::gps_checks(bool report)
} }
} }
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
}
return false;
}
}
return true; return true;
} }