Return failure in pre_arm_check if unhealthy

Tools/autotest/test_build_options.py

@@ -54,6 +54,10 @@ def get_defines(feature, options):
 
 def test_feature(feature, options):
     defines = get_defines(feature, options)
+    test_compile_with_defines(defines)
+
+
+def test_compile_with_defines(defines):
     extra_hwdef_filepath = "/tmp/extra.hwdef"
     write_defines_to_file(defines, extra_hwdef_filepath)
     util.waf_configure(
@@ -64,12 +68,12 @@ def test_feature(feature, options):
         try:
             util.waf_build(t)
         except Exception:
-            print("Failed to build (%s) with (%s) disabled" %
-                  (t, feature.label))
+            print("Failed to build (%s) with everything disabled" %
+                  (t,))
             raise
 
 
-def run():
+def run_disable_in_turn():
     options = get_build_options_from_ardupilot_tree()
     count = 1
     for feature in options:
@@ -79,5 +83,18 @@ def run():
         count += 1
 
 
+def run_disable_all():
+    options = get_build_options_from_ardupilot_tree()
+    defines = {}
+    for feature in options:
+        defines[feature.define] = 0
+    test_compile_with_defines(defines)
+
+
+def run():
+    run_disable_all()
+    run_disable_in_turn()
+
+
 if __name__ == '__main__':
     run()

libraries/AP_AHRS/AP_AHRS.cpp

@@ -2033,11 +2033,11 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
         return ret;
 #endif
     case EKFType::NONE:
-        return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len);
+        return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len) && ret;
 
 #if HAL_EXTERNAL_AHRS_ENABLED
     case EKFType::EXTERNAL:
-        return AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len);
+        return AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len) && ret;
 #endif
 
 #if HAL_NAVEKF2_AVAILABLE