add option to require position for Rover before arming

ArduPilot · Feb 3, 2025 · d534e0b · d534e0b
1 parent 3ce8479
commit d534e0b
Show file tree

Hide file tree

Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/Rover/AP_Arming_Rover.cpp b/Rover/AP_Arming_Rover.cpp
@@ -34,7 +34,9 @@ bool AP_Arming_Rover::rc_calibration_checks(const bool display_failure)
 // performs pre_arm gps related checks and returns true if passed
 bool AP_Arming_Rover::gps_checks(bool display_failure)
 {
-    if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
+    if (!require_location &&
+        !rover.control_mode->requires_position() &&
+        !rover.control_mode->requires_velocity()) {
         // we don't care!
         return true;
     }

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
@@ -6947,7 +6947,7 @@ def SDPolyFence(self):
 
         self.delay_sim_time(1000)
 
-    def REQUIRE_POSITION_FOR_ARMING(self):
+    def REQUIRE_LOCATION_FOR_ARMING(self):
         '''check DriveOption::REQUIRE_POSITION_FOR_ARMING works'''
         self.context_push()
         self.set_parameters({
@@ -6966,7 +6966,7 @@ def REQUIRE_POSITION_FOR_ARMING(self):
 
         self.change_mode('MANUAL')
         self.set_parameters({
-            "DRIVE_OPTIONS": 1,
+            "ARMING_NEED_LOC": 1,
         })
         self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
         self.context_pop()
@@ -7070,7 +7070,7 @@ def tests(self):
             self.ClearMission,
             self.JammingSimulation,
             self.BatteryInvalid,
-            self.REQUIRE_POSITION_FOR_ARMING,
+            self.REQUIRE_LOCATION_FOR_ARMING,
         ])
         return ret
 

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -89,7 +89,7 @@
 // whether the parameter should be shown:
 #ifndef AP_ARMING_NEED_LOC_PARAMETER_ENABLED
 // determine whether ARMING_NEED_POS is shown:
-#if APM_BUILD_COPTER_OR_HELI
+#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_Rover)
 #define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 1
 #else
 #define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 0
@@ -98,7 +98,7 @@
 
 // if ARMING_NEED_POS is shown, determine what its default should be:
 #if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
-#if APM_BUILD_COPTER_OR_HELI
+#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_Rover)
 #define AP_ARMING_NEED_LOC_DEFAULT 0
 #else
 #error "Unable to find value for AP_ARMING_NEED_LOC_DEFAULT"