AP_ExternalAHRS: check for origin in pre-arm check

ArduPilot · Feb 27, 2024 · 0aee2a4 · 0aee2a4
1 parent 192d9f6
commit 0aee2a4
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -236,6 +236,10 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
         return false;
     }
 
+    if (!state.have_origin) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: No origin");
+        return false;
+    }
     return backend->pre_arm_check(failure_msg, failure_msg_len);
 }