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Rover: only report ahrs unhealthy after initialisation

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This commit is contained in:
Randy Mackay 2014-10-02 13:44:52 +09:00
parent f059af2386
commit 799f559c1d
1 changed files with 1 additions and 1 deletions
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2
APMrover2/GCS_Mavlink.pde
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@ -169,7 +169,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
}
if (!ahrs.healthy()) {
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}