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@@ -39,6 +39,12 @@ uint8_t Transport::arm_status_check(const char *&reason)
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uint8_t status = MAV_ODID_PRE_ARM_FAIL_GENERIC;
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uint8_t status = MAV_ODID_PRE_ARM_FAIL_GENERIC;
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+ //return status OK if we have enabled the force arm option
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+ if (g.options & OPTIONS_FORCE_ARM_OK) {
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+ status = MAV_ODID_GOOD_TO_ARM;
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+ return status;
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+ }
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+
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if (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms) {
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if (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms) {
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reason = "missing location message";
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reason = "missing location message";
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} else if (!g.have_basic_id_info() && (last_basic_id_ms == 0 || now_ms - last_basic_id_ms > max_age_other_ms)) {
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} else if (!g.have_basic_id_info() && (last_basic_id_ms == 0 || now_ms - last_basic_id_ms > max_age_other_ms)) {
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