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Arming: use milligauss as compass units

This commit is contained in:
Staroselskii Georgii 2015-09-04 19:21:07 +03:00 committed by Andrew Tridgell
parent db94c8d53d
commit 375724b319
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Arming/AP_Arming.cpp
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@ -257,7 +257,7 @@ bool AP_Arming::compass_checks(bool report)
}
// check for unreasonable compass offsets
Vector3f offsets = _compass.get_offsets();
Vector3f offsets = _compass.get_offsets_milligauss();
if (offsets.length() > 600) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass offsets too high"));
@ -272,7 +272,7 @@ bool AP_Arming::compass_checks(bool report)
#endif
// check for unreasonable mag field length
float mag_field = _compass.get_field().length();
float mag_field = _compass.get_field_milligauss().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Check mag field"));