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ArduCopter: remove check for max INS instances

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For all supported boards the maximum number of instances is 3.
This commit is contained in:
Lucas De Marchi 2015-10-14 12:44:18 -03:00 committed by Andrew Tridgell
parent a147b97d2b
commit 09f185eb5e
1 changed files with 0 additions and 4 deletions
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4
ArduCopter/motors.cpp
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@ -398,7 +398,6 @@ bool Copter::pre_arm_checks(bool display_failure)
return false;
}
#if INS_MAX_INSTANCES > 1
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
@ -423,7 +422,6 @@ bool Copter::pre_arm_checks(bool display_failure)
}
}
}
#endif
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
@ -433,7 +431,6 @@ bool Copter::pre_arm_checks(bool display_failure)
return false;
}
#if INS_MAX_INSTANCES > 1
// check all gyros are consistent
if (ins.get_gyro_count() > 1) {
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
@ -447,7 +444,6 @@ bool Copter::pre_arm_checks(bool display_failure)
}
}
}
#endif
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {