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Copter: check all gyros and accels in pre-arm check

This commit is contained in:
Randy Mackay 2014-09-01 20:21:19 +09:00
parent 7fc5d693c2
commit 6c0b9a2cfc
1 changed files with 11 additions and 3 deletions
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14
ArduCopter/motors.pde
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@ -338,10 +338,18 @@ static void pre_arm_checks(bool display_failure)
return;
}
// check accels and gyros are healthy
if(!ins.healthy()) {
// check accels are healthy
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy"));
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accels not healthy"));
}
return;
}
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyros not healthy"));
}
return;
}