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AP_Arming: check all airspeed sensors are healthy

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This commit is contained in:
Andrew Tridgell 2017-11-03 19:26:02 +11:00
parent bbcda11afe
commit 8bb0ad7f3a
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_Arming/AP_Arming.cpp
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@ -136,11 +136,13 @@ bool AP_Arming::airspeed_checks(bool report)
// not an airspeed capable vehicle
return true;
}
if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed not healthy");
for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
if (airspeed->enabled(i) && airspeed->use(i) && !airspeed->healthy(i)) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Airspeed[%u] not healthy", i);
}
return false;
}
return false;
}
}