Copter: arming check that baro is healthy

ArduCopter/motors.cpp

@@ -730,13 +730,21 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
         return true;
     }
 
-    // Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
-    // Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
-    // that may differ from the baro height due to baro drift.
-    nav_filter_status filt_status = inertial_nav.get_filter_status();
-    bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
-    if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) && using_baro_ref) {
-        if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
+    // baro checks
+    if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
+        // baro health check
+        if (!barometer.all_healthy()) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Barometer not healthy"));
+            }
+            return false;
+        }
+        // Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
+        // Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
+        // that may differ from the baro height due to baro drift.
+        nav_filter_status filt_status = inertial_nav.get_filter_status();
+        bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
+        if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
             if (display_failure) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Altitude disparity"));
             }