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AP_Arming: add terrain init check to system checks

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This commit is contained in:
Randy Mackay 2019-11-07 11:04:07 +09:00
parent 5bb6ada292
commit ff7a21333d
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -31,6 +31,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Terrain/AP_Terrain.h>
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h> #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
@ -698,6 +699,13 @@ bool AP_Arming::system_checks(bool report)
check_failed(ARMING_CHECK_SYSTEM, report, "Param storage failed"); check_failed(ARMING_CHECK_SYSTEM, report, "Param storage failed");
return false; return false;
} }
#if AP_TERRAIN_AVAILABLE
const AP_Terrain *terrain = AP_Terrain::get_singleton();
if ((terrain != nullptr) && terrain->init_failed()) {
check_failed(ARMING_CHECK_SYSTEM, report, "Terrain out of memory");
return false;
}
#endif
} }
if (AP::internalerror().errors() != 0) { if (AP::internalerror().errors() != 0) {
check_failed(report, "Internal errors (0x%x)", (unsigned int)AP::internalerror().errors()); check_failed(report, "Internal errors (0x%x)", (unsigned int)AP::internalerror().errors());