mirror of https://github.com/ArduPilot/ardupilot
Copter: pre-arm check of INS health
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@ -246,6 +246,14 @@ static void pre_arm_checks(bool display_failure)
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return;
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return;
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}
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}
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// check accels and gyros are healthy
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if(!ins.healthy()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy"));
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}
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return;
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}
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// check the compass is healthy
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// check the compass is healthy
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if(!compass.healthy) {
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if(!compass.healthy) {
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if (display_failure) {
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if (display_failure) {
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