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AP_Arming: check for only first compass being disabled

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If only the first compass is disabled, users may expect other enabled compasses to be used but they won't be
This commit is contained in:
Randy Mackay 2021-03-30 17:22:03 +09:00 committed by Andrew Tridgell
parent 64c4b6a42b
commit d343c569c2
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
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@ -414,6 +414,12 @@ bool AP_Arming::compass_checks(bool report)
if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) {
// check for first compass being disabled but 2nd or 3rd being enabled
if (!_compass.use_for_yaw(0) && (_compass.get_num_enabled() > 0)) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass1 disabled but others enabled");
return false;
}
// avoid Compass::use_for_yaw(void) as it implicitly calls healthy() which can
// incorrectly skip the remaining checks, pass the primary instance directly
if (!_compass.use_for_yaw(0)) {