Copter: add compass health to arming check

8 years ago · bf0e7fb3a9
1 changed files with 8 additions and 0 deletions
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@ -656,6 +656,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
				@@ -656,6 +656,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
        return false;
    }

+    // check compass health
+    if (!compass.healthy()) {
+        if (display_failure) {
+            gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy");
+        }
+        return false;
+    }
+
    if (compass.is_calibrating()) {
        if (display_failure) {
            gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");