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AP_Arming: use compass get_offsets_max()

This commit is contained in:
Andrew Tridgell 2017-04-04 08:38:36 +10:00 committed by Francisco Ferreira
parent ee2afd3242
commit fafd940dd5
1 changed files with 1 additions and 5 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
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@ -17,10 +17,6 @@
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#ifndef AP_ARMING_COMPASS_OFFSETS_MAX
// this can also be overridden for specific boards in the HAL
#define AP_ARMING_COMPASS_OFFSETS_MAX 600
#endif
#define AP_ARMING_COMPASS_MAGFIELD_EXPECTED 530 #define AP_ARMING_COMPASS_MAGFIELD_EXPECTED 530
#define AP_ARMING_COMPASS_MAGFIELD_MIN 185 // 0.35 * 530 milligauss #define AP_ARMING_COMPASS_MAGFIELD_MIN 185 // 0.35 * 530 milligauss
#define AP_ARMING_COMPASS_MAGFIELD_MAX 875 // 1.65 * 530 milligauss #define AP_ARMING_COMPASS_MAGFIELD_MAX 875 // 1.65 * 530 milligauss
@ -314,7 +310,7 @@ bool AP_Arming::compass_checks(bool report)
// check for unreasonable compass offsets // check for unreasonable compass offsets
Vector3f offsets = _compass.get_offsets(); Vector3f offsets = _compass.get_offsets();
if (offsets.length() > AP_ARMING_COMPASS_OFFSETS_MAX) { if (offsets.length() > _compass.get_offsets_max()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Compass offsets too high");
} }