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AP_Arming: move ahrs health check after Accel/Gyro checks

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If the AHRS is unhealthy because of accel or gyro problems we want those underlying problem reported first
This commit is contained in:
Randy Mackay 2015-10-14 16:12:47 +09:00
parent 0a21fe65e9
commit f5f31e4b31
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Arming/AP_Arming.cpp
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@ -142,12 +142,6 @@ bool AP_Arming::ins_checks(bool report)
}
return false;
}
if (!ahrs.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
}
return false;
}
if (!ins.accel_calibrated_ok_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: 3D accel cal needed"));
@ -206,6 +200,12 @@ bool AP_Arming::ins_checks(bool report)
}
}
#endif
if (!ahrs.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: AHRS not healthy"));
}
return false;
}
}
return true;