Programatically know if vehicle is ready to arm

ArduCopter
1

Hello,
The doubt is in the title, I am trying to find out if there is a way to know programatically if the vehicle is ready to arm. I read about MAV_SYS_STATUS_PREARM_CHECK, but I have seen a post that the info in this message doesn’t include all the checks, since some are only done when there is a attempt from the user to arm.

I also read about the the SYS_STATUS parameters onboard_control_sensors_present,onboard_control_sensors_enabled andonboard_control_sensors_health, but then again I don’t know if they include all the conditions to arm.

So is there a practical way to find this or individually verifying each of the checks would be necessary?

2

This depends on the current flight mode before arming.
The vehicle can not be armed in GPS-required modes without a GPS lock, for example.
Check out this code and run it in different flight modes just after the simulated vehicle starts.

3

In my case, it would be best if I could verify and be sure to have a gps lock

4

I use the same logic in my code, while testing I noticed it pre_arm_status would be True even if in non-armable modes like AUTO or Emergency Stop was activated. If those two cases were the only ones, it’s a easy fix, but I don’t know which cases are included and which are not