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AP_Arming: allow arming checks ALL to pass when logging is disabled #10265

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merged 1 commit into from Jan 30, 2019
Merged

AP_Arming: allow arming checks ALL to pass when logging is disabled #10265

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19 changes: 15 additions & 4 deletions libraries/AP_Arming/AP_Arming.cpp
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Expand Up @@ -200,6 +200,10 @@ bool AP_Arming::logging_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!AP::logger().logging_present()) {
// Logging is disabled, so nothing to check.
return true;
}
if (AP::logger().logging_failed()) {
check_failed(ARMING_CHECK_LOGGING, report, "Logging failed");
return false;
Expand Down Expand Up @@ -722,11 +726,18 @@ bool AP_Arming::arm_checks(ArmingMethod method)

// note that this will prepare AP_Logger to start logging
// so should be the last check to be done before arming
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
AP_Logger *df = AP_Logger::instance();

// Note also that we need to PrepForArming() regardless of whether
// the arming check flag is set - disabling the arming check
// should not stop logging from working.

AP_Logger *df = AP_Logger::instance();
if (df->logging_present()) {
// If we're configured to log, prep it
df->PrepForArming();
if (!df->logging_started()) {
if (!df->logging_started() &&
((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING))) {
check_failed(ARMING_CHECK_LOGGING, true, "Logging not started");
return false;
}
Expand Down