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AP_Arming: check for AHRS health and calibration for arming

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This commit is contained in:
Andrew Tridgell 2015-02-01 13:31:59 +11:00
parent 6e62e1ca7b
commit a2adb9b1b0
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_Arming/AP_Arming.cpp
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@ -132,6 +132,18 @@ bool AP_Arming::ins_checks(bool report)
}
return false;
}
if (!ahrs.healthy()) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: AHRS not healthy!"));
}
return false;
}
if (ahrs.have_inertial_nav() && !ins.calibrated()) {
if (report) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: EKF requires 3D accel cal"));
}
return false;
}
#if INS_MAX_INSTANCES > 1
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {