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AP_Arming: do not report prearm_failure_reason when ahrs unhealthy

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The EKF's prearm failiure message is more related to the position estimate rather than the ahrs's health
This commit is contained in:
Randy Mackay 2015-10-12 21:18:42 +09:00
parent 78c6287f95
commit 0a21fe65e9
1 changed files with 1 additions and 6 deletions
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7
libraries/AP_Arming/AP_Arming.cpp
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@ -144,12 +144,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (!ahrs.healthy()) {
if (report) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: %s"), reason);
} else {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
}
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
}
return false;
}