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OpenSource
Baitboat
Commits
43c377ca
Commit
43c377ca
authored
12 years ago
by
Randy Mackay
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Copter: add compass calibration to pre-arm check
parent
6efdabb1
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ArduCopter/motors.pde
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43c377ca
...
...
@@ -216,6 +216,23 @@ static void pre_arm_checks(bool display_failure)
return
;
}
// check compass learning is on or offsets have been set
Vector3f
offsets
=
compass
.
get_offsets
();
if
(
!
compass
.
_learn
&&
offsets
.
length
()
==
0
)
{
if
(
display_failure
)
{
gcs_send_text_P
(
SEVERITY_HIGH
,
PSTR
(
"PreArm: Compass not calibrated"
));
}
return
;
}
// check for unreasonable compass offsets
if
(
offsets
.
length
()
>
500
)
{
if
(
display_failure
)
{
gcs_send_text_P
(
SEVERITY_HIGH
,
PSTR
(
"PreArm: Compass offsets too high"
));
}
return
;
}
#if AC_FENCE == ENABLED
// check fence is initialised
if
(
!
fence
.
pre_arm_check
())
{
...
...
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