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Copter: add GPS glitch to arming checks

This commit is contained in:
Randy Mackay 2013-10-13 14:04:54 +09:00
parent 8de6c34252
commit bf74a64fec
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/motors.pde
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@ -330,7 +330,7 @@ static void pre_arm_checks(bool display_failure)
} }
// check gps is ok if required - note this same check is repeated again in arm_checks // check gps is ok if required - note this same check is repeated again in arm_checks
if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good)) { if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good || gps_glitch.glitching())) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
} }
@ -378,7 +378,7 @@ static bool arm_checks(bool display_failure)
} }
// check gps is ok if required - note this same check is also done in pre-arm checks // check gps is ok if required - note this same check is also done in pre-arm checks
if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good)) { if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good || gps_glitch.glitching())) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Bad GPS Pos")); gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Bad GPS Pos"));
} }