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Copter: check if compass cal requires reboot

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This commit is contained in:
Jonathan Challinger 2015-12-28 20:40:04 -08:00 committed by Randy Mackay
parent cd977b3142
commit 93fc595d4d
1 changed files with 16 additions and 0 deletions
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16
ArduCopter/arming_checks.cpp
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@ -107,6 +107,14 @@ bool Copter::pre_arm_checks(bool display_failure)
// check Compass // check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
//check if compass has calibrated and requires reboot
if (compass.compass_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
// check the primary compass is healthy // check the primary compass is healthy
if (!compass.healthy()) { if (!compass.healthy()) {
if (display_failure) { if (display_failure) {
@ -534,6 +542,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
return false; return false;
} }
//check if compass has calibrated and requires reboot
if (compass.compass_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
}
return false;
}
// always check if the current mode allows arming // always check if the current mode allows arming
if (!mode_allows_arming(control_mode, arming_from_gcs)) { if (!mode_allows_arming(control_mode, arming_from_gcs)) {
if (display_failure) { if (display_failure) {