AP_Arming_Copter: Allow arming with unhealthy visodom in non-gps modes #29264
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Vabe7
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I will test this, I was about to raise a PR myself |
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peterbarker
requested changes
Mar 10, 2025
ArduCopter/AP_Arming_Copter.cpp
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| // performs pre_arm visodom related checks and returns true if passed | ||
| bool AP_Arming_Copter::visodom_checks(bool display_failure) | ||
| { | ||
| // check if fence requires GPS/position |
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Missing check for require_location == RequireLocation::YES in here
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The requested changes should be in now. I want this because I'm currently building a positioning system for my stampfly to use loiter and so on. But I also want to fly it in Stabilize or Althold if I'm somewhere else, so Guided-NoGPS doesn't really fit the case. |
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This is essentially the fixed version of #29258, see more info about that at the bottom.
This allows arming in non-GPS flight modes like Stabilize, even if the visual odometry is unhealthy. The behavior is mostly copied from gps_checks.
I compiled one board with (fmuv3) and one without (Kakute F7 Mini) visual odometry. And for both boards I compiled plane and copter. I also tested it on a barebones fmuv3. With:
on Copter 4.5.7. the prearm message visodom unhealthy is shown in Stabilize. With this branch the message disappears in Stabilize, but appears again when changing to Loiter.
I initially only tested it for copter on sitl and fmuv3, after opening the initial pull request I got all the error messages about compiler errors in other vehicles and boards with only 1MB of storage. Realizing my mistake I closed the pull request. Now due to the rebase and force-push I can't reopen the original pull request. I'm sorry about the inconvenience, but on a positive note, I learned a lot about git today...