Sub: add arming check for backup origin

Co-authored-by: Clyde McQueen <clyde@mcqueen.net>
ArduPilot · Jul 11, 2024 · 62d9b14 · 62d9b14
1 parent bd27edc
commit 62d9b14
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/ArduSub/AP_Arming_Sub.cpp b/ArduSub/AP_Arming_Sub.cpp
@@ -152,8 +152,11 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
     // if we do not have an ekf origin then we can't use the WMM tables
     if (!sub.ensure_ekf_origin()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Compass performance degraded");
+        if (check_enabled(ARMING_CHECK_PARAMETERS)) {
+            check_failed(ARMING_CHECK_PARAMETERS, true, "No world position, check ORIGIN_* parameters");
+            return false;
+        }
     }
-
     // return success
     return true;
 }

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
@@ -709,14 +709,14 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: ORIGIN_LAT
     // @DisplayName: Backup latitude for EKF origin
     // @Description:  Backup EKF origin latitude used when not using a positioning system.
-    // @Units: degrees
+    // @Units: deg
     // @User: Standard
     AP_GROUPINFO("ORIGIN_LAT", 19, ParametersG2, backup_origin_lat, 0),
 
     // @Param: ORIGIN_LON
     // @DisplayName: Backup longitude for EKF origin
     // @Description:  Backup EKF origin longitude used when not using a positioning system.
-    // @Units: degrees
+    // @Units: deg
     // @User: Standard
     AP_GROUPINFO("ORIGIN_LON", 20, ParametersG2, backup_origin_lon, 0),