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Copter: check EKF health specifically in pre_arm_gps_checks

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Jonathan Challinger 2015-05-05 00:08:26 -07:00 committed by Randy Mackay
parent 2392481945
commit b7632194cc
1 changed files with 1 additions and 1 deletions
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ArduCopter/motors.pde
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@ -574,7 +574,7 @@ static void pre_arm_rc_checks()
static bool pre_arm_gps_checks(bool display_failure) static bool pre_arm_gps_checks(bool display_failure)
{ {
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
if(!ahrs.healthy()) { if(!ahrs.get_NavEKF().healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Waiting for Nav Checks")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Waiting for Nav Checks"));
} }