AP_Arming_Copter: Allow arming with unhealthy visodom in non-gps modes #29264
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I will test this, I was about to raise a PR myself |
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This is essentially the fixed version of #29258, see more info about that at the bottom.
This allows arming in non-GPS flight modes like Stabilize, even if the visual odometry is unhealthy. The behavior is mostly copied from gps_checks.
I compiled one board with (fmuv3) and one without (Kakute F7 Mini) visual odometry. And for both boards I compiled plane and copter. I also tested it on a barebones fmuv3. With:
on Copter 4.5.7. the prearm message visodom unhealthy is shown in Stabilize. With this branch the message disappears in Stabilize, but appears again when changing to Loiter.
I initially only tested it for copter on sitl and fmuv3, after opening the initial pull request I got all the error messages about compiler errors in other vehicles and boards with only 1MB of storage. Realizing my mistake I closed the pull request. Now due to the rebase and force-push I can't reopen the original pull request. I'm sorry about the inconvenience, but on a positive note, I learned a lot about git today...