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Copter: pre-arm check uses compass configured method

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This commit is contained in:
Randy Mackay 2014-07-07 21:31:05 +09:00
parent 070f1c1bbb
commit b799020e25
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/motors.pde
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@ -252,7 +252,7 @@ static void pre_arm_checks(bool display_failure)
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
// check the compass is healthy
// check the primary compass is healthy
if(!compass.healthy(0)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
@ -261,8 +261,7 @@ static void pre_arm_checks(bool display_failure)
}
// check compass learning is on or offsets have been set
Vector3f offsets = compass.get_offsets();
if(!compass._learn && offsets.length() == 0) {
if(!compass._learn && !compass.configured()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
}
@ -270,6 +269,7 @@ static void pre_arm_checks(bool display_failure)
}
// check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets();
if(offsets.length() > 500) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));