From b7632194cc2e341a283af76694b2e2fcb8c3af96 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 5 May 2015 00:08:26 -0700
Subject: [PATCH] Copter: check EKF health specifically in pre_arm_gps_checks

---
 ArduCopter/motors.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 02ad6bc7a5..59f96af735 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -574,7 +574,7 @@ static void pre_arm_rc_checks()
 static bool pre_arm_gps_checks(bool display_failure)
 {
     // always check if inertial nav has started and is ready
-    if(!ahrs.healthy()) {
+    if(!ahrs.get_NavEKF().healthy()) {
         if (display_failure) {
             gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Waiting for Nav Checks"));
         }