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Copter: pre-arm check of INS health

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Randy Mackay 2013-11-14 23:12:53 +09:00
parent 71bb462ad0
commit fe822ba0b6
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.pde
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@ -246,6 +246,14 @@ static void pre_arm_checks(bool display_failure)
return; 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 // check the compass is healthy
if(!compass.healthy) { if(!compass.healthy) {
if (display_failure) { if (display_failure) {