aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Arming: Check GPS update rate as part of the GPS checks

Browse Source
This commit is contained in:
Michael du Breuil 2017-07-08 16:07:24 -07:00 committed by Francisco Ferreira
parent cf02204e6c
commit 3ab9b75df0
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Arming/AP_Arming.cpp
View File

@ -349,6 +349,14 @@ bool AP_Arming::gps_checks(bool report)
}
return false;
}
//GPS update rate acceptable
if (!gps.is_healthy()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS is not healthy");
}
return false;
}
}
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {