Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Check all EKF cores for health

This commit is contained in:
Michael du Breuil 2019-03-23 18:22:09 +00:00 committed by Andrew Tridgell
parent 334b1622e1
commit f5511d6119
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/AP_Arming.cpp
View File

@ -105,7 +105,7 @@ bool AP_Arming_Plane::ins_checks(bool display_failure)
// additional plane specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().healthy()) {
if (!AP::ahrs().prearm_healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";