prearm, tidy

olliw42 · Dec 30, 2023 · 1b4a4cb · 1b4a4cb
1 parent 672fbe8
commit 1b4a4cb
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_STorM32_MAVLink.cpp b/libraries/AP_Mount/AP_Mount_STorM32_MAVLink.cpp
@@ -1222,6 +1222,17 @@ void AP_Mount_STorM32_MAVLink::update_checks()
 {
 char txt[255];
 
+    if (!(AP::arming().get_enabled_checks() & AP_Arming::ArmingChecks::ARMING_CHECK_ALL ||
+          AP::arming().get_enabled_checks() & AP_Arming::ArmingChecks::ARMING_CHECK_CAMERA)) {
+        if (_initialised && _gimbal_prearmchecks_ok) {
+            if (!_prearmchecks_passed && !_request_send_banner_ms) { // state changed and not going to send soon anyways
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MNT%u: prearm checks passed", _instance+1);
+            }
+            _prearmchecks_passed = true;
+        }
+        return;
+    }
+
     if (_armingchecks_running) _armingchecks_running--; // count down
 
     if (_prearmchecks_passed && AP::notify().flags.armed &&

diff --git a/libraries/AP_Mount/AP_Mount_STorM32_MAVLink.h b/libraries/AP_Mount/AP_Mount_STorM32_MAVLink.h
@@ -235,7 +235,7 @@ class AP_Mount_STorM32_MAVLink : public AP_Mount_Backend
     uint32_t _gimbal_error_flags;   // error flags in custom_mode field of the HEARTBEAT message (restricted to 16 bits)
     bool _gimbal_prearmchecks_ok;   // true when the gimbal stops reporting prearm fail in the HEARTBEAT message
 
-    mutable uint8_t _armingchecks_running;     // true when ARMING_CHECK_ALL or ARMING_CHECK_CAMERA set, we know from healty()
+    mutable uint8_t _armingchecks_running; // true when ARMING_CHECK_ALL,ARMING_CHECK_CAMERA set and running, we know from healthy()
     bool _healthy;
 
     bool _prearmchecks_passed;      // becomes true when all checks were passed once at startup
@@ -267,7 +267,7 @@ class AP_Mount_STorM32_MAVLink : public AP_Mount_Backend
 
     struct {
         uint16_t received_flags;    // obtained from GIMBAL_DEVICE_ATTITUDE_STATUS
-        uint32_t received_failure_flags;   // obtained from GIMBAL_DEVICE_ATTITUDE_STATUS
+        uint32_t received_failure_flags; // obtained from GIMBAL_DEVICE_ATTITUDE_STATUS
         uint32_t received_tlast_ms; // time last GIMBAL_DEVICE_ATTITUDE_STATUS was received (used for health reporting)
     } _device_status;