code: def is_armable(self):
          
          # check that mode is not INITIALSING
          # check that we have a GPS fix
          # check that EKF pre-arm is complete
          return self.mode != 'INITIALISING' and (self.gps_0.fix_type is not None and self.gps_0.fix_type > 1) and self._ekf_predposhorizabs
docs: Returns ``True`` if the vehicle is ready to arm, false otherwise (``Boolean``).
  
          This attribute wraps a number of pre-arm checks, ensuring that the vehicle has booted,
          has a good GPS fix, and that the EKF pre-arm is complete.