Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 08:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: do not report prearm_failure_reason when ahrs unhealthy

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Arming/AP_Arming.cpp
View File

@ -144,12 +144,7 @@ bool AP_Arming::ins_checks(bool report)
} }
if (!ahrs.healthy()) { if (!ahrs.healthy()) {
if (report) { if (report) {
const char *reason = ahrs.prearm_failure_reason(); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
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"));
}
} }
return false; return false;
} }