From 6b65aa465b57d560701758f00790e54679f33fef Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 28 May 2015 12:15:31 +0900 Subject: [PATCH] Copter: pre-arm checks ignore unused compasses --- ArduCopter/motors.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde index a69db5b41c..0a193e6ce0 100644 --- a/ArduCopter/motors.pde +++ b/ArduCopter/motors.pde @@ -363,7 +363,7 @@ static bool pre_arm_checks(bool display_failure) Vector3f mag_vec = compass.get_field(i); mag_vec.normalize(); Vector3f vec_diff = mag_vec - prime_mag_vec; - if (vec_diff.length() > COMPASS_ACCEPTABLE_VECTOR_DIFF) { + if (compass.use_for_yaw(i) && vec_diff.length() > COMPASS_ACCEPTABLE_VECTOR_DIFF) { if (display_failure) { gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent compasses")); }