I have a question on a “PreArm Check”.
I’m using modified firmware based on Copter 4.0.7,
I added ROI function for my specific Gimbal CAM.
And then, when I send a ROI target to my drone via MAVLink, the drone failed to pass the prearm check.
There is an error message “PreArm : Param Storage Failed” on MP.
It only happened when I using ROI.
I found that the message is displayed by prearm check in AP_Arming.cpp, “system_checks” function.
In the function,
if “hal.storage->healthy()” returns false, the message should displayed.
I found the “hal.storage->healthy()” on Storage.h in AP_HAL library.
But the function healthy always returns true.
How can it possible that the “hal.storage->healthy()” returns false?