AP_NavEKF_Source; pre_arm_check may skip position checks

libraries/AP_NavEKF/AP_NavEKF_Source.cpp

@@ -299,7 +299,8 @@ void AP_NavEKF_Source::mark_configured_in_storage()
 }
 
 // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
-bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
+// requires_position should be true if horizontal position configuration should be checked
+bool AP_NavEKF_Source::pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const
 {
     auto &dal = AP::dal();
     bool baro_required = false;
@@ -314,6 +315,7 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
     // check source params are valid
     for (uint8_t i=0; i<AP_NAKEKF_SOURCE_SET_MAX; i++) {
 
+        if (requires_position) {
             // check posxy
             switch ((SourceXY)_source_set[i].posxy.get()) {
             case SourceXY::NONE:
@@ -400,6 +402,7 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
                 hal.util->snprintf(failure_msg, failure_msg_len, "Check EK3_SRC%d_VELZ", (int)i+1);
                 return false;
             }
+        }
 
         // check yaw
         switch ((SourceYaw)_source_set[i].yaw.get()) {

libraries/AP_NavEKF/AP_NavEKF_Source.h

@@ -90,7 +90,8 @@ public:
     void mark_configured_in_storage();
 
     // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
-    bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
+    // requires_position should be true if horizontal position configuration should be checked
+    bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const;
 
     // return true if ext nav is enabled on any source
     bool ext_nav_enabled(void) const;