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AP_Arming: always run compass calibration checks

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This commit is contained in:
Randy Mackay 2019-02-20 11:03:22 +09:00
parent c290b1f3b5
commit 72fabb5cd3
1 changed files with 14 additions and 14 deletions
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28
libraries/AP_Arming/AP_Arming.cpp
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@ -332,11 +332,23 @@ bool AP_Arming::ins_checks(bool report)
bool AP_Arming::compass_checks(bool report)
{
Compass &_compass = AP::compass();
// check if compass is calibrating
if (_compass.is_calibrating()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibration running");
return false;
}
// check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibrated requires reboot");
return false;
}
if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) {
Compass &_compass = AP::compass();
// avoid Compass::use_for_yaw(void) as it implicitly calls healthy() which can
// incorrectly skip the remaining checks, pass the primary instance directly
if (!_compass.use_for_yaw(_compass.get_primary())) {
@ -354,18 +366,6 @@ bool AP_Arming::compass_checks(bool report)
return false;
}
//check if compass is calibrating
if (_compass.is_calibrating()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibration running");
return false;
}
//check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibrated requires reboot");
return false;
}
// check for unreasonable compass offsets
const Vector3f offsets = _compass.get_offsets();
if (offsets.length() > _compass.get_offsets_max()) {