{"action":"created","comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/pulls/comments/50640370","id":50640370,"diff_hunk":"@@ -580,3 +580,23 @@ AP_GPS::send_mavlink_gps2_rtk(mavlink_channel_t chan)\n         drivers[1]->send_mavlink_gps_rtk(chan);\n     }\n }\n+\n+// is this GPS instance configured\n+bool AP_GPS::is_configured(uint8_t instance) const\n+{\n+    if (drivers[instance] != NULL && state[instance].status != NO_GPS) {","path":"libraries/AP_GPS/AP_GPS.cpp","position":8,"original_position":8,"commit_id":"32b69f9cf33be0e0444c165b262341818aec8637","original_commit_id":"32b69f9cf33be0e0444c165b262341818aec8637","user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"body":"Wouldnt GPS status be none?\nOn Jan 24, 2016 11:10 AM, \"WickedShell\" <notifications@github.com> wrote:\n\n> In libraries/AP_GPS/AP_GPS.cpp\n> <https://github.com/diydrones/ardupilot/pull/3546#discussion_r50640310>:\n>\n> > @@ -580,3 +580,23 @@ AP_GPS::send_mavlink_gps2_rtk(mavlink_channel_t chan)\n> >          drivers[1]->send_mavlink_gps_rtk(chan);\n> >      }\n> >  }\n> > +\n> > +// is this GPS instance configured\n> > +bool AP_GPS::is_configured(uint8_t instance) const\n> > +{\n> > +    if (drivers[instance] != NULL && state[instance].status != NO_GPS) {\n>\n> This will always return false on instance 2 of single GPS operation\n> (assuming the GPS is plugged into the normal GPS port on a Pixhawk) (I\n> believe)\n>\n> —\n> Reply to this email directly or view it on GitHub\n> <https://github.com/diydrones/ardupilot/pull/3546/files#r50640310>.\n>\n","created_at":"2016-01-24T19:15:23Z","updated_at":"2016-01-24T19:15:23Z","html_url":"https://github.com/diydrones/ardupilot/pull/3546#discussion_r50640370","pull_request_url":"https://api.github.com/repos/diydrones/ardupilot/pulls/3546","_links":{"self":{"href":"https://api.github.com/repos/diydrones/ardupilot/pulls/comments/50640370"},"html":{"href":"https://github.com/diydrones/ardupilot/pull/3546#discussion_r50640370"},"pull_request":{"href":"https://api.github.com/repos/diydrones/ardupilot/pulls/3546"}}},"pull_request":{"url":"https://api.github.com/repos/diydrones/ardupilot/pulls/3546","id":57009971,"html_url":"https://github.com/diydrones/ardupilot/pull/3546","diff_url":"https://github.com/diydrones/ardupilot/pull/3546.diff","patch_url":"https://github.com/diydrones/ardupilot/pull/3546.patch","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3546","number":3546,"state":"open","locked":false,"title":"Arming: add GPS is configured pre-arm ","user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"body":"Prevent arming if there is a problem with setting the configuration - namely if it is not yet set or detected as set incorrectly. This is currently only implemented in the uBlox GPS driver. All other drivers are treated as always configured.\r\n\r\nThis helps address a bug I found where my uBlox was not configured, possibly due to a hardware/wire issue. The GPS's incorrect boot-up default navigation settings gave a wandering 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