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Copter: check if accel cal requires reboot

This commit is contained in:
Jonathan Challinger 2015-12-28 20:36:11 -08:00
parent 1482614a7d
commit 5cd0ca851a
1 changed files with 16 additions and 0 deletions
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16
ArduCopter/arming_checks.cpp
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@ -184,6 +184,14 @@ bool Copter::pre_arm_checks(bool display_failure)
return false;
}
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
}
return false;
}
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
@ -482,6 +490,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check accels and gyro are healthy
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
}
return false;
}
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");