Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: remove redundant compass arming checks

Browse Source 
These are already part of prearm checks in the parent class, which must also pass for us to arm
This commit is contained in:
Peter Barker 2019-03-27 17:29:04 +11:00 committed by Randy Mackay
parent e56c970eb0
commit 6bac6cd725
1 changed files with 1 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduCopter/AP_Arming.cpp
View File

@ -453,8 +453,8 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
return false;
}
const Compass &_compass = AP::compass();
#ifndef ALLOW_ARM_NO_COMPASS
const Compass &_compass = AP::compass();
// check compass health
if (!_compass.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass not healthy");
@ -462,17 +462,6 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
}
#endif
if (_compass.is_calibrating()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass calibration running");
return false;
}
//check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass calibrated requires reboot");
return false;
}
control_mode_t control_mode = copter.control_mode;
// always check if the current mode allows arming