From c30af1b0439d9fa2e35ce33a28316a0a55796ade Mon Sep 17 00:00:00 2001
From: Michael Day <michael.day@gtri.gatech.edu>
Date: Sat, 19 Nov 2016 13:55:18 -0500
Subject: [PATCH] Copter: Ignore some checks in SITL to get faster takeoff
---
ArduCopter/arming_checks.cpp | 2 ++
ArduCopter/ekf_check.cpp | 4 ++++
ArduCopter/events.cpp | 3 +++
ArduCopter/flight_mode.cpp | 3 +++
4 files changed, 12 insertions(+)
diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index 8a7d25700c..6369c68414 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -500,6 +500,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
return true;
}
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// ensure GPS is ok
if (!position_ok()) {
if (display_failure) {
@@ -525,6 +526,7 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
}
return false;
}
+#endif
// check home and EKF origin are not too far
if (far_from_EKF_origin(ahrs.get_home())) {
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 5a20710303..3ef5843c62 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -28,6 +28,10 @@ static struct {
// should be called at 10hz
void Copter::ekf_check()
{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+ return;
+#endif
+
// exit immediately if ekf has no origin yet - this assumes the origin can never become unset
Location temp_loc;
if (!ahrs.get_origin(temp_loc)) {
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index 2a713e61c4..2ab59a49a2 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -171,6 +171,9 @@ void Copter::failsafe_terrain_set_status(bool data_ok)
// terrain failsafe action
void Copter::failsafe_terrain_on_event()
{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+ return;
+#endif
failsafe.terrain = true;
gcs_send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED);
diff --git a/ArduCopter/flight_mode.cpp b/ArduCopter/flight_mode.cpp
index 9e7b3de2a0..7df1a3a3c4 100644
--- a/ArduCopter/flight_mode.cpp
+++ b/ArduCopter/flight_mode.cpp
@@ -14,6 +14,9 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
// boolean to record if flight mode could be set
bool success = false;
bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+ ignore_checks = true;
+#endif
// return immediately if we are already in the desired mode
if (mode == control_mode) {
--
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