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 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer in
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#include "rallyPointCheck.hpp"

RallyPointChecks::RallyPointChecks()
	: _param_rtl_type_handle(param_find("RTL_TYPE"))
{
}

void RallyPointChecks::checkAndReport(const Context &context, Report &reporter)
{
	int32_t rtl_type = 0;

	if (param_get(_param_rtl_type_handle, &rtl_type) != 0 || rtl_type != 5) {
		// Only enforce rally point requirement when RTL_TYPE == 5 (safe points only)
		return;
	}

	rtl_status_s rtl_status;

	if (!_rtl_status_sub.copy(&rtl_status) || rtl_status.safe_point_index == UINT8_MAX) {
		/* EVENT
		 * @description
		 * Upload at least one rally point before arming, or change <param>RTL_TYPE</param>.
		 *
		 * <profile name="dev">
		 * This check is active when RTL_TYPE is set to 5 (safe points only).
		 * </profile>
		 */
		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
					    events::ID("check_rally_point_missing"),
					    events::Log::Error, "No rally point available");

		if (reporter.mavlink_log_pub()) {
			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No rally point available\t");
		}
	}
}