From bf0e7fb3a9331dd67a5ae941a59f6993ff6de168 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 1 Nov 2016 16:11:07 +0900
Subject: [PATCH] Copter: add compass health to arming check

---
 ArduCopter/arming_checks.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index ba9400ecc3..8a7d25700c 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -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");