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AP_Arming: only compare AHRS vs GPS if GPS is enabled

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This commit is contained in:
Randy Mackay 2022-12-13 17:47:04 +09:00
parent ba234330d9
commit cb39bd72d3
1 changed files with 9 additions and 7 deletions
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2
libraries/AP_Arming/AP_Arming.cpp
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@ -598,6 +598,7 @@ bool AP_Arming::gps_checks(bool report)
} }
// check AHRS and GPS are within 10m of each other // check AHRS and GPS are within 10m of each other
if (gps.num_sensors() > 0) {
const Location gps_loc = gps.location(); const Location gps_loc = gps.location();
Location ahrs_loc; Location ahrs_loc;
if (AP::ahrs().get_location(ahrs_loc)) { if (AP::ahrs().get_location(ahrs_loc)) {
@ -608,6 +609,7 @@ bool AP_Arming::gps_checks(bool report)
} }
} }
} }
}
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) { if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured; uint8_t first_unconfigured;