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MichelleRos · Aug 20, 2024 · d256ffc · d256ffc
1 parent 3696db1
commit d256ffc
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/Blimp/mode_level.cpp b/Blimp/mode_level.cpp
@@ -8,12 +8,12 @@ bool ModeLevel::init(bool ignore_checks)
     if (is_zero(blimp.loiter->level_max)){
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_LVLMAX is zero. Leveling is disabled.");
     }
-    if (is_zero(blimp.loiter->max_vel_yaws)){
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAWS is zero. Yaw rate stabilization is manual.");
-    }
     if (is_zero(blimp.loiter->max_vel_zs)){
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_ZS is zero. Z rate stabilization is manual.");
     }
+    if (is_zero(blimp.loiter->max_vel_yaws)){
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAWS is zero. Yaw rate stabilization is manual.");
+    }
     return true;
 }
 
@@ -26,12 +26,12 @@ void ModeLevel::run()
 
     float out_right_com = pilot.y*g.max_man_thr;
     float out_front_com = pilot.x*g.max_man_thr;
-    float out_yaw_com = pilot_yaw*g.max_man_thr;
     float out_down_com = pilot.z*g.max_man_thr;
+    float out_yaw_com = pilot_yaw*g.max_man_thr;
 
     loiter->run_level_roll(out_right_com);
     loiter->run_level_pitch(out_front_com);
-    loiter->run_yaw_stab(out_yaw_com);
     loiter->run_down_stab(out_down_com);
+    loiter->run_yaw_stab(out_yaw_com);
 
 }
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -466,10 +466,10 @@ bool AP_Arming::ins_checks(bool report)
         }
 
         // check all gyros are giving consistent readings
-        if (!ins_gyros_consistent(ins)) {
-            check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent");
-            return false;
-        }
+        // if (!ins_gyros_consistent(ins)) {
+        //     check_failed(ARMING_CHECK_INS, report, "Gyros inconsistent");
+        //     return false;
+        // }
 
         // no arming while doing temp cal
         if (ins.temperature_cal_running()) {