AP_Arming: don't allow arming during IMU temp cal

2021-01-11 07:26:49 +11:00 · 2021-01-11 07:26:49 +11:00 · 68526262b7
parent e2e97c67ce
commit 68526262b7
1 changed files with 6 additions and 0 deletions
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@ -363,6 +363,12 @@ bool AP_Arming::ins_checks(bool report)
            return false;
        }

+        // no arming while doing temp cal
+        if (ins.temperature_cal_running()) {
+            check_failed(ARMING_CHECK_INS, report, "temperature cal running");
+            return false;
+        }
+        
        // check AHRS attitudes are consistent
        char failure_msg[50] = {};
        if (!AP::ahrs().attitudes_consistent(failure_msg, ARRAY_SIZE(failure_msg))) {