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Copter: check all gyros and accels in pre-arm check

This commit is contained in:
Randy Mackay 2014-09-01 20:21:19 +09:00
parent 74553e523d
commit d7343d5dc7
1 changed files with 11 additions and 3 deletions
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14
ArduCopter/motors.pde
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@ -338,10 +338,18 @@ static void pre_arm_checks(bool display_failure)
return; return;
} }
// check accels and gyros are healthy // check accels are healthy
if(!ins.healthy()) { if(!ins.get_accel_health_all()) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accels not healthy"));
}
return;
}
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyros not healthy"));
} }
return; return;
} }