From d7343d5dc7156a98e998d85228a00103202a4ad5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 1 Sep 2014 20:21:19 +0900
Subject: [PATCH] Copter: check all gyros and accels in pre-arm check

---
 ArduCopter/motors.pde | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 103b548c9b..591b8ceb13 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -338,10 +338,18 @@ static void pre_arm_checks(bool display_failure)
             return;
         }
 
-        // check accels and gyros are healthy
-        if(!ins.healthy()) {
+        // check accels are healthy
+        if(!ins.get_accel_health_all()) {
             if (display_failure) {
-                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy"));
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accels not healthy"));
+            }
+            return;
+        }
+
+        // check gyros are healthy
+        if(!ins.get_gyro_health_all()) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyros not healthy"));
             }
             return;
         }