AP_Arming: prearm check to validate backend read rates against scheduler loop rate

bugobliterator · bugobliterator · commit 023a3ad450f5 · 2024-11-20T17:26:18.000+11:00
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -484,6 +484,12 @@ bool AP_Arming::ins_checks(bool report)
         }
 #endif
 
+        // check if IMU gyro updates are greater than or equal to Ardupilot Loop rate
+        char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
+        if (!ins.pre_arm_check_gyro_backend_rate_hz(fail_msg, ARRAY_SIZE(fail_msg))) {
+            check_failed(ARMING_CHECK_INS, report, "%s", fail_msg);
+            return false;
+        }
     }
 
 #if HAL_GYROFFT_ENABLED

Original file line number	Diff line number	Diff line change
`@@ -484,6 +484,12 @@ bool AP_Arming::ins_checks(bool report)`
`484`	`484`	`}`
`485`	`485`	`#endif`
`486`	`486`
	`487`	`+ // check if IMU gyro updates are greater than or equal to Ardupilot Loop rate`
	`488`	`+ char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];`
	`489`	`+ if (!ins.pre_arm_check_gyro_backend_rate_hz(fail_msg, ARRAY_SIZE(fail_msg))) {`
	`490`	`+ check_failed(ARMING_CHECK_INS, report, "%s", fail_msg);`
	`491`	`+ return false;`
	`492`	`+ }`
`487`	`493`	`}`
`488`	`494`
`489`	`495`	`#if HAL_GYROFFT_ENABLED`