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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

View File

@ -656,6 +656,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
return false; 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 (compass.is_calibrating()) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running"); gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");