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AP_InertialSensor: check accel health during accel cal

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This commit is contained in:
Andrew Tridgell 2015-03-11 11:05:05 +11:00
parent 875339f12a
commit e6a4b9f68c
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -472,6 +472,10 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
// capture sample
for (uint8_t k=0; k<num_accels; k++) {
samples[k][i] += get_accel(k);
if (!get_accel_health(k)) {
interact->printf_P(PSTR("accel[%u] not healthy"), (unsigned)k);
goto failed;
}
}
hal.scheduler->delay(10);
num_samples++;