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Copter: Split out prearm failures of low HDOP separately from !gps lock

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(on the iris list there was some confusion on why the copter was blinking
yellow but yet they had gps lock)
This commit is contained in:
Kevin Hester 2013-12-25 10:56:47 -08:00 committed by Randy Mackay
parent 751f886215
commit 2044300057
1 changed files with 9 additions and 1 deletions
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10
ArduCopter/motors.pde
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@ -410,13 +410,21 @@ static bool pre_arm_gps_checks(bool display_failure)
float speed_cms = inertial_nav.get_velocity().length(); // speed according to inertial nav in cm/s
// ensure GPS is ok and our speed is below 50cm/s
if (!GPS_ok() || g_gps->hdop > g.gps_hdop_good || gps_glitch.glitching() || speed_cms == 0 || speed_cms > PREARM_MAX_VELOCITY_CMS) {
if (!GPS_ok() || gps_glitch.glitching() || speed_cms == 0 || speed_cms > PREARM_MAX_VELOCITY_CMS) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
}
return false;
}
// warn about hdop separately - to prevent user confusion with no gps lock
if (g_gps->hdop > g.gps_hdop_good) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: High GPS HDOP"));
}
return false;
}
// if we got here all must be ok
return true;
}