mirror of https://github.com/ArduPilot/ardupilot
Copter: use common baro arming check function
This commit is contained in:
parent
b791fef7cb
commit
a7bc111485
|
@ -96,15 +96,13 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
|
|||
|
||||
bool AP_Arming_Copter::barometer_checks(bool display_failure)
|
||||
{
|
||||
if (!AP_Arming::barometer_checks(display_failure)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool ret = true;
|
||||
// check Baro
|
||||
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) {
|
||||
// barometer health check
|
||||
if (!barometer.all_healthy()) {
|
||||
if (display_failure) {
|
||||
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
|
||||
}
|
||||
return false;
|
||||
}
|
||||
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
|
||||
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
|
||||
// that may differ from the baro height due to baro drift.
|
||||
|
@ -115,11 +113,11 @@ bool AP_Arming_Copter::barometer_checks(bool display_failure)
|
|||
if (display_failure) {
|
||||
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
|
||||
}
|
||||
return false;
|
||||
ret = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
return true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool AP_Arming_Copter::compass_checks(bool display_failure)
|
||||
|
|
Loading…
Reference in New Issue