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AP_Arming: Run extra GPS checks when arming

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Michael du Breuil 2017-10-19 18:16:37 -07:00 committed by Francisco Ferreira
parent 236e74c529
commit ef0b52e017
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -509,6 +509,14 @@ bool AP_Arming::pre_arm_checks(bool report)
bool AP_Arming::arm_checks(uint8_t method)
{
// ensure the GPS drivers are ready on any final changes
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
if (!AP_GPS::gps().prepare_for_arming()) {
return false;
}
}
// note that this will prepare DataFlash to start logging
// so should be the last check to be done before arming
if ((checks_to_perform & ARMING_CHECK_ALL) ||