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feat(rallyPointCheck): allow arming when RTL_TYPE=5 and no rally point set (#27773)

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Warn user that rally point is missing.
This commit is contained in:
Mahima Yoga
2026-07-02 10:55:15 +02:00
committed by GitHub
parent 12f99ac841
commit 92549340ac
1 changed files with 6 additions and 5 deletions
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11
src/modules/commander/HealthAndArmingChecks/checks/rallyPointCheck.cpp
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@@ -55,18 +55,19 @@ void RallyPointChecks::checkAndReport(const Context &context, Report &reporter)
if (!_rtl_status_sub.copy(&rtl_status) || rtl_status.safe_point_index == UINT8_MAX) {
/* EVENT
* @description
* Upload at least one rally point before arming, or change <param>RTL_TYPE</param>.
* No rally point is configured. Return will fall back to the current position when RTL is triggered.
* Upload at least one rally point, or change <param>RTL_TYPE</param> to silence this warning.
*
* <profile name="dev">
* This check is active when RTL_TYPE is set to 5 (safe points only).
* This warning is active when RTL_TYPE is set to 5 (safe points only).
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system,
reporter.armingCheckFailure(NavModes::None, health_component_t::system,
events::ID("check_rally_point_missing"),
events::Log::Error, "No rally point available");
events::Log::Warning, "No rally point configured");
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No rally point available\t");
mavlink_log_warning(reporter.mavlink_log_pub(), "No rally point configured\t");
}
}
}