bool AP_Arming::arm_checks(ArmingMethod 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().prepare_for_arming()) {
return false;
}
}
// check system health on arm as well as prearm
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_SYSTEM)) {
if (!system_checks(true)) {
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) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
DataFlash_Class *df = DataFlash_Class::instance();
df->PrepForArming();
if (!df->logging_started()) {
check_failed(ARMING_CHECK_LOGGING, true, "Logging not started");
return false;
}
}
return true;
}
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().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) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
DataFlash_Class *df = DataFlash_Class::instance();
df->PrepForArming();
if (!df->logging_started()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
return false;
}
}
return true;
}