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Copter: pre-arm checks ignore unused compasses

This commit is contained in:
Randy Mackay 2015-05-28 12:15:31 +09:00
parent b6eba0842a
commit 6b65aa465b
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/motors.pde
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@ -363,7 +363,7 @@ static bool pre_arm_checks(bool display_failure)
Vector3f mag_vec = compass.get_field(i); Vector3f mag_vec = compass.get_field(i);
mag_vec.normalize(); mag_vec.normalize();
Vector3f vec_diff = mag_vec - prime_mag_vec; 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) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent compasses")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent compasses"));
} }