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Copter: fix proximity arming checks

This commit is contained in:
Randy Mackay 2016-12-26 17:04:13 +09:00
parent b89d3564c7
commit ee9588c674
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/arming_checks.cpp
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@ -512,17 +512,17 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
}
// check nothing is too close to vehicle
bool Copter::pre_arm_proximity_check(bool display_failure)
bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
{
#if PROXIMITY_ENABLED == ENABLED
// return true immediately if no sensor present
if (g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
return true;
}
// return false if proximity sensor unhealthy
if (g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
}
@ -532,7 +532,7 @@ bool Copter::pre_arm_proximity_check(bool display_failure)
// get closest object if we might use it for avoidance
#if AC_AVOID_ENABLED == ENABLED
float angle_deg, distance;
if (avoid.proximity_avoidance_enabled() && g2.proximity.get_closest_object(angle_deg, distance)) {
if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) {
// display error if something is within 60cm
if (distance <= 0.6f) {
if (display_failure) {