Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: consider health of primary compass in SYS_STATUS, pre-arm and compassmot 

this should prevent users from taking off with only secondary compass
This commit is contained in:
Andrew Tridgell 2014-03-24 07:05:03 +11:00
parent f05b90bfd2
commit 3362e42478
3 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/GCS_Mavlink.pde
View File

@ -185,7 +185,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
// default to all healthy except compass, gps and receiver which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS & ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {

4
ArduCopter/compassmot.pde
View File

@ -38,7 +38,7 @@ static uint8_t mavlink_compassmot(mavlink_channel_t chan)
// check compass health
compass.read();
if (!compass.healthy()) {
if (!compass.healthy(0)) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("check compass"));
ap.compass_mot = false;
return 1;
@ -128,7 +128,7 @@ static uint8_t mavlink_compassmot(mavlink_channel_t chan)
last_send_time = millis();
// main run while there is no user input and the compass is healthy
while (command_ack_start == command_ack_counter && compass.healthy() && motors.armed()) {
while (command_ack_start == command_ack_counter && compass.healthy(0) && motors.armed()) {
// 50hz loop
if (millis() - last_run_time < 20) {
// grab some compass values

2
ArduCopter/motors.pde
View File

@ -248,7 +248,7 @@ static void pre_arm_checks(bool display_failure)
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
// check the compass is healthy
if(!compass.healthy()) {
if(!compass.healthy(0)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
}