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Copter: only report ahrs unhealthy after initialisation

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This commit is contained in:
Randy Mackay 2014-10-02 13:44:02 +09:00
parent 29c704fecc
commit 3b0a308ed2
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/GCS_Mavlink.pde
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@ -206,7 +206,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL; control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
} }
if (!ahrs.healthy()) { if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy // AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }