mirror of https://github.com/ArduPilot/ardupilot
AP_Arming: added arming check for conflicting notch modes
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@ -394,6 +394,14 @@ bool AP_Arming::ins_checks(bool report)
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check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
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return false;
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}
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#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
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if (ins.gyro_harmonic_notch_enabled(0) &&
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ins.gyro_harmonic_notch_enabled(1) &&
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ins.get_gyro_harmonic_notch_tracking_mode(0) != HarmonicNotchDynamicMode::Fixed &&
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ins.get_gyro_harmonic_notch_tracking_mode(0) != ins.get_gyro_harmonic_notch_tracking_mode(1)) {
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check_failed(ARMING_CHECK_INS, report, "conflicting notch filters");
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}
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#endif
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}
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#if HAL_GYROFFT_ENABLED
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