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AP_Fence: add pre-arm check for fence enabled but none selected

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Hwurzburg 2021-05-18 10:20:49 -05:00 committed by Peter Barker
parent cd43c0ecef
commit faf4993436
1 changed files with 6 additions and 0 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
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@ -282,6 +282,12 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
{ {
fail_msg = nullptr; fail_msg = nullptr;
// if fences are enabled but none selected fail pre-arm check
if (enabled() && !present()) {
fail_msg = "Fences enabled, but none selected";
return false;
}
// if not enabled or not fence set-up always return true // if not enabled or not fence set-up always return true
if ((!_enabled && !_auto_enabled) || !_enabled_fences) { if ((!_enabled && !_auto_enabled) || !_enabled_fences) {
return true; return true;