ardupilot/ArduPlane/AP_Arming.cpp

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/*
additional arming checks for plane
*/
#include "AP_Arming.h"
#include "Plane.h"
const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Arming, 0),
// @Param: RUDDER
// @DisplayName: Rudder Arming
// @Description: Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
// @User: Advanced
AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
AP_GROUPEND
};
enum HomeState AP_Arming_Plane::home_status() const
{
return plane.home_is_set;
}
/*
additional arming checks for plane
*/
bool AP_Arming_Plane::pre_arm_checks(bool report)
{
// call parent class checks
bool ret = AP_Arming::pre_arm_checks(report);
// Check airspeed sensor
ret &= AP_Arming::airspeed_checks(report);
if (plane.g.fs_timeout_long < plane.g.fs_timeout_short && plane.g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
}
ret = false;
}
if (plane.aparm.roll_limit_cd < 300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_max_cd < 300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_min_cd > -300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
}
ret = false;
}
if (plane.channel_throttle->get_reverse() &&
plane.g.throttle_fs_enabled &&
plane.g.throttle_fs_value <
ArduPlane: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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plane.channel_throttle->get_radio_max()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle");
}
ret = false;
}
if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
}
ret = false;
}
if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded");
}
ret = false;
}
// check adsb avoidance failsafe
if (plane.failsafe.adsb) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
}
ret = false;
}
#if HAVE_PX4_MIXER
if (plane.last_mixer_crc == -1) {
if (report) {
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// if you ever get this error, a reboot is recommended.
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error");
}
ret = false;
}
#endif // CONFIG_HAL_BOARD
return ret;
}
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bool AP_Arming_Plane::ins_checks(bool report)
{
// call parent class checks
if (!AP_Arming::ins_checks(report)) {
return false;
}
// additional plane specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!ahrs.healthy()) {
if (report) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
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} else {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
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}
}
return false;
}
}
return true;
}