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AP_Arming: don't reporting IMU inconsistencies if IMU not enabled

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This commit is contained in:
Andrew Tridgell 2016-01-19 18:05:08 +11:00
parent 3a3afe42be
commit bc5210d6f2
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
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@ -177,6 +177,9 @@ bool AP_Arming::ins_checks(bool report)
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
for(uint8_t i=0; i<ins.get_accel_count(); i++) {
if (!ins.use_accel(i)) {
continue;
}
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
@ -206,6 +209,9 @@ bool AP_Arming::ins_checks(bool report)
if (ins.get_gyro_count() > 1) {
const Vector3f &prime_gyro_vec = ins.get_gyro();
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
if (!ins.use_gyro(i)) {
continue;
}
// get next gyro vector
const Vector3f &gyro_vec = ins.get_gyro(i);
Vector3f vec_diff = gyro_vec - prime_gyro_vec;