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Copter: arming check that accels and gyro are healty
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@ -682,6 +682,22 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
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start_logging();
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#endif
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// check accels and gyro are healthy
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
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if(!ins.get_accel_health_all()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Accelerometers not healthy"));
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}
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return false;
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}
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if(!ins.get_gyro_health_all()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyros not healthy"));
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}
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return false;
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}
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}
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// always check if inertial nav has started and is ready
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if(!ahrs.healthy()) {
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if (display_failure) {
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