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Copter: use common baro arming check function

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This commit is contained in:
Peter Barker 2017-07-15 17:22:26 +10:00 committed by Francisco Ferreira
parent b791fef7cb
commit a7bc111485
1 changed files with 7 additions and 9 deletions
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16
ArduCopter/AP_Arming.cpp
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@ -96,15 +96,13 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
bool AP_Arming_Copter::barometer_checks(bool display_failure) bool AP_Arming_Copter::barometer_checks(bool display_failure)
{ {
// check Baro if (!AP_Arming::barometer_checks(display_failure)) {
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; return false;
} }
bool ret = true;
// check Baro
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) {
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode. // 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 // 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. // 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) { if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity"); 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) bool AP_Arming_Copter::compass_checks(bool display_failure)