AP_Arming: INS: add batchsampler init check

2023-03-02 22:19:32 +00:00 · 2023-03-02 22:19:32 +00:00 · 89e5a7a300
commit 89e5a7a300
parent 027ffefa41
1 changed files with 9 additions and 0 deletions
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@ -464,6 +464,15 @@ bool AP_Arming::ins_checks(bool report)
            check_failed(ARMING_CHECK_INS, report, "temperature cal running");
            return false;
        }
+
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
+        // If Batch sampling enabled it must be initialized
+        if (ins.batchsampler.enabled() && !ins.batchsampler.is_initialised()) {
+            check_failed(ARMING_CHECK_INS, report, "Batch sampling requires reboot");
+            return false;
+        }
+#endif
+
    }

 #if HAL_GYROFFT_ENABLED