From 557f4df77e018b341cead55d1a5ad0855c8fb25b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Jan 2015 12:45:50 +1100
Subject: [PATCH] Copter: use barometer.all_healthy() for health check in
SYS_STATUS and arming
---
ArduCopter/GCS_Mavlink.pde | 2 +-
ArduCopter/motors.pde | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index e0efe0fa5..b2cde83b7 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -194,7 +194,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
- if (barometer.healthy()) {
+ if (barometer.all_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index a2438a9e7..0d2499843 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -232,7 +232,7 @@ static void pre_arm_checks(bool display_failure)
// check Baro
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// barometer health check
- if(!barometer.healthy()) {
+ if(!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Barometer not healthy"));
}
--
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