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Send text warning to user if they try to calibrate accels or compass while armed #13667

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merged 2 commits into from Mar 3, 2020
Merged

Send text warning to user if they try to calibrate accels or compass while armed #13667

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b8c3dbd
AP_Compass: Alert GCS if user tries to calibrate compass while vehicl…
rishabsingh3003 Feb 25, 2020
3ad1a87
GCS_MAVLink: Alert GCS if user tries calibration while vehicle is armed
rishabsingh3003 Feb 25, 2020
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2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_Calibration.cpp
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Expand Up @@ -313,7 +313,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_long_t &packet)
case MAV_CMD_DO_START_MAG_CAL: {
result = MAV_RESULT_ACCEPTED;
if (hal.util->get_soft_armed()) {
hal.console->printf("Disarm for compass calibration\n");
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
result = MAV_RESULT_FAILED;
break;
}
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1 change: 1 addition & 0 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -3527,6 +3527,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_comma
{
if (hal.util->get_soft_armed()) {
// *preflight*, remember?
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow calibration");
return MAV_RESULT_FAILED;
}
// now call subclass methods:
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