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Copter: remove redundant INS checks

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Now checked by continuous prearm checks
This commit is contained in:
Peter Barker 2017-09-04 14:27:10 +10:00 committed by Randy Mackay
parent d3b73f8557
commit d563a9dd5d
1 changed files with 0 additions and 31 deletions
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31
ArduCopter/AP_Arming.cpp
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@ -493,37 +493,6 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// has side-effect that logging is started
bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
{
// check accels and gyro are healthy
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
//check if accelerometers have calibrated and require reboot
if (_ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accels calibrated requires reboot");
}
return false;
}
if (!_ins.get_accel_health_all()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Accels not healthy");
}
return false;
}
if (!_ins.get_gyro_health_all()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
}
return false;
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
}
return false;
}
}
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
if (display_failure) {