Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/motors.pde
View File

@ -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"));
}