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AP_Arming: add arming message for compass not detected but assigned

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Siddharth Purohit 2019-11-20 13:07:39 +08:00 committed by Andrew Tridgell
parent 1b63cb6d5c
commit de86342e93
1 changed files with 6 additions and 3 deletions
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7
libraries/AP_Arming/AP_Arming.cpp
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@ -396,10 +396,13 @@ bool AP_Arming::compass_checks(bool report)
return false;
}
// check compass learning is on or offsets have been set
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
check_failed(ARMING_CHECK_COMPASS, report, "Compass not calibrated");
if (!_compass.learn_offsets_enabled()) {
char failure_msg[50] = {};
if (!_compass.configured(failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_COMPASS, report, "%s", failure_msg);
return false;
}
}
// check for unreasonable compass offsets
const Vector3f offsets = _compass.get_offsets();