From 26fd3348823bdd5219746712046453281f2f4613 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 6 Mar 2019 15:50:32 +0900
Subject: [PATCH] AP_Arming: provide better feedback on attitude check

---
 libraries/AP_Arming/AP_Arming.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index c96897220e..7657467ba7 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -327,8 +327,9 @@ bool AP_Arming::ins_checks(bool report)
         }
 
         // check AHRS attitudes are consistent
-        if (!AP::ahrs().attitudes_consistent()) {
-            check_failed(ARMING_CHECK_INS, report, "Attitudes inconsistent");
+        char failure_msg[50] = {};
+        if (!AP::ahrs().attitudes_consistent(failure_msg, ARRAY_SIZE(failure_msg))) {
+            check_failed(ARMING_CHECK_INS, report, failure_msg);
             return false;
         }
     }