AP_ExternalAHRS: Check backend pre-arm before origin

* This allows the backend to report more detailed errors * Before this, many pre-arm errors were hidden by origin failure * If pre-arm could report multiple errors, that would be ideal Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Mar 26, 2024 · 35451c7 · 35451c7
1 parent 95ac178
commit 35451c7
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -235,11 +235,14 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
         hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: Invalid backend");
         return false;
     }
-
+    if (!backend->pre_arm_check(failure_msg, 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);
+    return true;
 }
 
 /*