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Plane: only report ahrs unhealthy after initialisation

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This commit is contained in:
Randy Mackay 2014-10-02 13:45:10 +09:00
parent 799f559c1d
commit b17c6d3368
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -215,7 +215,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
if (!ahrs.healthy()) {
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}