From 345246953b5c4d68097501eb0a4145715b4647f3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 18 Feb 2016 09:32:44 +0100
Subject: [PATCH] Airspeed pre-flight check: do not arm if sensor data is stuck
 or bus errors are high

---
 src/modules/commander/PreflightCheck.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 7ca59d5a2b..57f43959bd 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -341,6 +341,14 @@ static bool airspeedCheck(int mavlink_fd, bool optional, bool report_fail)
 		goto out;
 	}
 
+	if (fabsf(airspeed.confidence) < 0.99f) {
+		if (report_fail) {
+			mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: AIRSPEED SENSOR COMM ERROR");
+		}
+		success = false;
+		goto out;
+	}
+
 	if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
 		if (report_fail) {
 			mavlink_and_console_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");