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Copter: arming check that accels and gyro are healty

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This commit is contained in:
Randy Mackay 2015-07-29 12:19:18 +09:00
parent 50e07ccad6
commit 8c0294f1b7
1 changed files with 16 additions and 0 deletions
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16
ArduCopter/motors.cpp
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@ -682,6 +682,22 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
start_logging(); start_logging();
#endif #endif
// check accels and gyro are healthy
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Accelerometers not healthy"));
}
return false;
}
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyros not healthy"));
}
return false;
}
}
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
if(!ahrs.healthy()) { if(!ahrs.healthy()) {
if (display_failure) { if (display_failure) {