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AP_Arming: add ahrs attitude check

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This commit is contained in:
Randy Mackay 2019-02-20 12:53:12 +09:00
parent f1a023c872
commit b805c40bf7
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_Arming/AP_Arming.cpp
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@ -325,6 +325,12 @@ bool AP_Arming::ins_checks(bool report)
check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent");
return false;
}
// check AHRS attitudes are consistent
if (!AP::ahrs().attitudes_consistent()) {
check_failed(ARMING_CHECK_INS, report, "Attitudes inconsistent");
return false;
}
}
return true;
@ -336,13 +342,13 @@ bool AP_Arming::compass_checks(bool report)
// check if compass is calibrating
if (_compass.is_calibrating()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibration running");
check_failed(ARMING_CHECK_NONE, report, "Compass calibration running");
return false;
}
// check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass calibrated requires reboot");
check_failed(ARMING_CHECK_NONE, report, "Compass calibrated requires reboot");
return false;
}