From 050d5de93be10f3400c17176ef695531aedaff11 Mon Sep 17 00:00:00 2001 From: baumanta Date: Thu, 9 Apr 2020 15:36:42 +0200 Subject: [PATCH] add home pos check into global pos check --- .../Arming/PreFlightCheck/checks/preArmCheck.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp index f2e847b0e2..d0a16fda86 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp @@ -103,6 +103,14 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st prearm_ok = false; } + + if (!status_flags.condition_home_position_valid) { + if (prearm_ok) { + if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Home position invalid"); } + } + + prearm_ok = false; + } } // safety button