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Sub: Check all EKF cores are healthy before arming

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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
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2
ArduSub/AP_Arming_Sub.cpp
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@ -31,7 +31,7 @@ bool AP_Arming_Sub::ins_checks(bool display_failure)
// additional sub-specific checks // additional sub-specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) { (checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().healthy()) { if (!AP::ahrs().prearm_healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason(); const char *reason = AP::ahrs().prearm_failure_reason();
if (reason == nullptr) { if (reason == nullptr) {
reason = "AHRS not healthy"; reason = "AHRS not healthy";