ArduCopter: add Copter flight option for requiring position to arm

this is not quite the same as requiring a good position to arm.
ArduPilot · Jun 25, 2024 · 180484e · 180484e
1 parent 7dd50cd
commit 180484e
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -444,7 +444,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
     #endif
 
-    if (mode_requires_gps) {
+    if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -626,6 +626,7 @@ class Copter : public AP_Vehicle {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
+        REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
     // returns true if option is enabled for this vehicle
     bool option_is_enabled(FlightOption option) const {

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1000,7 +1000,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),