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Copter: add compass health to arming check

This commit is contained in:
Randy Mackay 2016-11-01 16:11:07 +09:00
parent b9dcf1108d
commit bf0e7fb3a9
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/arming_checks.cpp
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@ -656,6 +656,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
return false;
}
// check compass health
if (!compass.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy");
}
return false;
}
if (compass.is_calibrating()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");