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Code Issues Releases Activity

LP-327 - Raise an alarm to prevent arming if gyro is not yet calibrated (implement the same Revo behaviour)

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This commit is contained in:
Alessio Morale 2016-06-28 23:07:54 +02:00
parent f42c33a922
commit c090b8df38
1 changed files with 2 additions and 1 deletions
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3
flight/modules/Attitude/attitude.c
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@ -356,7 +356,8 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
} }
// Only update attitude when sensor data is good // Only update attitude when sensor data is good
if (retval != 0) { // raise alarm if gyro has not been yet calibrated to prevent arming
if (retval != 0 || init == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR); AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
} else { } else {
// Do not update attitude data in simulation mode // Do not update attitude data in simulation mode