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Copter: add compass calibration to pre-arm check

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Randy Mackay 2013-05-20 14:19:47 +09:00
parent 6efdabb104
commit 43c377ca67
1 changed files with 17 additions and 0 deletions
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17
ArduCopter/motors.pde
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@ -216,6 +216,23 @@ static void pre_arm_checks(bool display_failure)
return;
}
// check compass learning is on or offsets have been set
Vector3f offsets = compass.get_offsets();
if(!compass._learn && offsets.length() == 0) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
}
return;
}
// check for unreasonable compass offsets
if(offsets.length() > 500) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));
}
return;
}
#if AC_FENCE == ENABLED
// check fence is initialised
if(!fence.pre_arm_check()) {