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

Sub: Check all EKF cores are healthy before arming

This commit is contained in:
Michael du Breuil 2019-03-31 20:40:42 -07:00 committed by Andrew Tridgell
parent f5511d6119
commit 75e5efc16e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/AP_Arming_Sub.cpp
View File

@ -31,7 +31,7 @@ bool AP_Arming_Sub::ins_checks(bool display_failure)
// additional sub-specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().healthy()) {
if (!AP::ahrs().prearm_healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";