From fe822ba0b62b27336fcb11dca293b68d36c9af7e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Nov 2013 23:12:53 +0900
Subject: [PATCH] Copter: pre-arm check of INS health

---
 ArduCopter/motors.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 3ad043aacf..e6072c6b1e 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -246,6 +246,14 @@ static void pre_arm_checks(bool display_failure)
         return;
     }
 
+    // check accels and gyros are healthy
+    if(!ins.healthy()) {
+        if (display_failure) {
+            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy"));
+        }
+        return;
+    }
+
     // check the compass is healthy
     if(!compass.healthy) {
         if (display_failure) {