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AP_Arming: Mission: check for zero takeoff alt

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This commit is contained in:
Peter Hall
2026-08-04 10:11:03 +09:00
committed by Randy Mackay
parent c12b0653e8
commit 58ded742e1
1 changed files with 19 additions and 0 deletions
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libraries/AP_Arming/AP_Arming.cpp
+19
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@@ -987,6 +987,25 @@ bool AP_Arming::mission_checks(bool report)
}
}
// Check there are no zero altitude takeoffs
// Although technically valid in some very rare cases it's most likely that the user simply forgot to enter an altitude.
if (check_enabled(Check::MISSION)) {
const uint16_t num_commands = mission.num_commands();
for (uint16_t i = 1; i < num_commands; i++) {
if (!mission.is_takeoff_type_cmd(mission.get_command_id(i))) {
continue;
}
AP_Mission::Mission_Command cmd;
if (!mission.read_cmd_from_storage(i, cmd)) {
continue;
}
if (cmd.content.location.alt == 0) {
check_failed(Check::MISSION, report, "Mission: Zero takeoff altitude");
return false;
}
}
}
#if AP_SDCARD_STORAGE_ENABLED
if (check_enabled(Check::MISSION) &&
(mission.failed_sdcard_storage() || StorageManager::storage_failed())) {