From dff9fe9cb2fa0d323ae0072f19563d1236484ab4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 8 Sep 2015 15:51:00 +1000
Subject: [PATCH] Copter: use prearm_failure_reason()

---
 ArduCopter/motors.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 592c4a5b1c..def54a4b5b 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -654,7 +654,12 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
     // ensure GPS is ok
     if (!position_ok()) {
         if (display_failure) {
-            gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Need 3D Fix"));
+            const char *reason = ahrs.prearm_failure_reason();
+            if (reason) {
+                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: %s"), reason);
+            } else {
+                gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Need 3D Fix"));
+            }
         }
         AP_Notify::flags.pre_arm_gps_check = false;
         return false;