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AP_Arming: FFT prearm should not be dependent on INS prearm

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This commit is contained in:
Andy Piper 2021-10-15 20:30:38 +01:00 committed by Andrew Tridgell
parent f145785be0
commit 73b0a212f7
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_Arming/AP_Arming.cpp
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@ -390,22 +390,22 @@ bool AP_Arming::ins_checks(bool report)
check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
return false;
}
}
#if HAL_GYROFFT_ENABLED
// gyros are healthy so check the FFT
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_FFT)) {
// Check that the noise analyser works
AP_GyroFFT *fft = AP::fft();
// gyros are healthy so check the FFT
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_FFT)) {
// Check that the noise analyser works
AP_GyroFFT *fft = AP::fft();
char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (fft != nullptr && !fft->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_INS, report, "%s", fail_msg);
return false;
}
char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (fft != nullptr && !fft->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_INS, report, "%s", fail_msg);
return false;
}
#endif
}
#endif
return true;
}