Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: pre-arm check that gyro cal succeeded

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/motors.pde
View File

@ -378,6 +378,14 @@ static void pre_arm_checks(bool display_failure)
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
// check all gyros are consistent
if (ins.get_gyro_count() > 1) {