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Copter: pre-arm check that gyro cal succeeded

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This commit is contained in:
Randy Mackay 2014-10-08 20:17:55 +09:00
parent d309ecb587
commit eb594775b7
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.pde
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@ -378,6 +378,14 @@ static void pre_arm_checks(bool display_failure)
return; return;
} }
// check gyros calibrated successfully
if(!ins.gyro_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyro cal failed"));
}
return;
}
#if INS_MAX_INSTANCES > 1 #if INS_MAX_INSTANCES > 1
// check all gyros are consistent // check all gyros are consistent
if (ins.get_gyro_count() > 1) { if (ins.get_gyro_count() > 1) {