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AP_Arming: added arming check for conflicting notch modes

This commit is contained in:
Andrew Tridgell 2022-04-13 20:16:30 +10:00
parent 7aafd5cf98
commit ae1e9e06c1
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
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@ -394,6 +394,14 @@ bool AP_Arming::ins_checks(bool report)
check_failed(ARMING_CHECK_INS, report, "%s", failure_msg); check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
return false; return false;
} }
#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
if (ins.gyro_harmonic_notch_enabled(0) &&
ins.gyro_harmonic_notch_enabled(1) &&
ins.get_gyro_harmonic_notch_tracking_mode(0) != HarmonicNotchDynamicMode::Fixed &&
ins.get_gyro_harmonic_notch_tracking_mode(0) != ins.get_gyro_harmonic_notch_tracking_mode(1)) {
check_failed(ARMING_CHECK_INS, report, "conflicting notch filters");
}
#endif
} }
#if HAL_GYROFFT_ENABLED #if HAL_GYROFFT_ENABLED