2015-12-22 19:12:15 -04:00
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#include "Copter.h"
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// performs pre-arm checks. expects to be called at 1hz.
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2017-01-09 03:45:48 -04:00
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void AP_Arming_Copter::update(void)
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2015-12-22 19:12:15 -04:00
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{
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// perform pre-arm checks & display failures every 30 seconds
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static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
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pre_arm_display_counter++;
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bool display_fail = false;
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if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
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display_fail = true;
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pre_arm_display_counter = 0;
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}
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2019-05-05 22:39:57 -03:00
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pre_arm_checks(display_fail);
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2015-12-22 19:12:15 -04:00
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}
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2019-05-05 22:39:57 -03:00
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bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
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2015-12-22 19:12:15 -04:00
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{
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2019-05-05 22:39:57 -03:00
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const bool passed = run_pre_arm_checks(display_failure);
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set_pre_arm_check(passed);
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return passed;
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2015-12-22 19:12:15 -04:00
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}
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2017-09-03 23:10:14 -03:00
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// perform pre-arm checks
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2015-12-22 19:12:15 -04:00
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// return true if the checks pass successfully
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2019-05-05 22:39:57 -03:00
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bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
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2015-12-22 19:12:15 -04:00
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{
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// exit immediately if already armed
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2017-01-09 03:45:48 -04:00
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if (copter.motors->armed()) {
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2015-12-22 19:12:15 -04:00
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return true;
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}
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// check if motor interlock and Emergency Stop aux switches are used
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// at the same time. This cannot be allowed.
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2019-04-03 13:25:47 -03:00
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if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
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rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_NONE, display_failure, "Interlock/E-Stop Conflict");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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// check if motor interlock aux switch is in use
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// if it is, switch needs to be in disabled position to arm
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// otherwise exit immediately. This check to be repeated,
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// as state can change at any time.
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2017-01-09 03:45:48 -04:00
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if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_NONE, display_failure, "Motor Interlock Enabled");
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2015-12-22 19:12:15 -04:00
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}
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// succeed if pre arm checks are disabled
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2017-01-09 03:45:48 -04:00
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if (checks_to_perform == ARMING_CHECK_NONE) {
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2015-12-22 19:12:15 -04:00
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return true;
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}
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2017-09-04 01:16:40 -03:00
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return fence_checks(display_failure)
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2016-10-13 12:51:55 -03:00
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& parameter_checks(display_failure)
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2016-12-13 22:30:36 -04:00
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& motor_checks(display_failure)
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2017-09-04 00:22:11 -03:00
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& pilot_throttle_checks(display_failure) &
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AP_Arming::pre_arm_checks(display_failure);
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2016-08-15 09:02:48 -03:00
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}
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::barometer_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2017-07-15 04:22:26 -03:00
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if (!AP_Arming::barometer_checks(display_failure)) {
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return false;
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}
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bool ret = true;
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2015-12-22 19:12:15 -04:00
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// check Baro
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2017-01-09 03:45:48 -04:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) {
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2015-12-22 19:12:15 -04:00
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// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
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// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
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// that may differ from the baro height due to baro drift.
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2018-06-25 00:42:17 -03:00
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nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
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2015-12-22 19:12:15 -04:00
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bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
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if (using_baro_ref) {
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2018-06-25 00:42:17 -03:00
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if (fabsf(copter.inertial_nav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity");
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2017-07-15 04:22:26 -03:00
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ret = false;
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2015-12-22 19:12:15 -04:00
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}
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}
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}
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2017-07-15 04:22:26 -03:00
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return ret;
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2016-08-15 09:02:48 -03:00
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}
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2015-12-22 19:12:15 -04:00
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::compass_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2016-08-17 08:21:05 -03:00
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bool ret = AP_Arming::compass_checks(display_failure);
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2015-12-29 00:40:04 -04:00
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2016-08-17 08:21:05 -03:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) {
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// check compass offsets have been set. AP_Arming only checks
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// this if learning is off; Copter *always* checks.
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2018-06-25 00:42:17 -03:00
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if (!AP::compass().configured()) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_COMPASS, display_failure, "Compass not calibrated");
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2016-08-17 08:21:05 -03:00
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ret = false;
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2015-12-22 19:12:15 -04:00
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}
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}
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2016-08-17 08:21:05 -03:00
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return ret;
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2016-08-15 09:02:48 -03:00
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}
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::ins_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2016-08-17 00:14:56 -03:00
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bool ret = AP_Arming::ins_checks(display_failure);
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2016-07-27 22:22:39 -03:00
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2016-08-17 00:14:56 -03:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
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2015-12-22 19:12:15 -04:00
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// get ekf attitude (if bad, it's usually the gyro biases)
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if (!pre_arm_ekf_attitude_check()) {
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2018-10-02 19:25:54 -03:00
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check_failed(ARMING_CHECK_INS, display_failure, "EKF attitude is bad");
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2016-08-17 00:14:56 -03:00
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ret = false;
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2015-12-22 19:12:15 -04:00
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}
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}
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2016-08-17 00:14:56 -03:00
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return ret;
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2016-08-15 09:02:48 -03:00
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}
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2017-07-15 04:39:15 -03:00
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if (!AP_Arming::board_voltage_checks(display_failure)) {
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return false;
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2015-12-22 19:12:15 -04:00
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}
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// check battery voltage
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2017-01-09 03:45:48 -04:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
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2018-02-28 19:32:16 -04:00
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if (copter.battery.has_failsafed()) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe");
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2017-07-26 07:36:57 -03:00
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return false;
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}
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// call parent battery checks
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if (!AP_Arming::battery_checks(display_failure)) {
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return false;
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}
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2015-12-22 19:12:15 -04:00
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}
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2016-08-15 09:02:48 -03:00
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return true;
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}
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::parameter_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2015-12-22 19:12:15 -04:00
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// check various parameter values
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2017-01-09 03:45:48 -04:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
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2015-12-22 19:12:15 -04:00
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2018-06-04 00:06:32 -03:00
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// ensure all rc channels have different functions
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if (rc().duplicate_options_exist()) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Duplicate Aux Switch Options");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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// failsafe parameter checks
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2017-01-09 03:45:48 -04:00
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if (copter.g.failsafe_throttle) {
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2015-12-22 19:12:15 -04:00
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// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
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2017-01-09 03:45:48 -04:00
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if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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}
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// lean angle parameter check
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2017-01-09 03:45:48 -04:00
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if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check ANGLE_MAX");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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// acro balance parameter check
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2018-03-19 08:40:33 -03:00
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#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
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2017-01-09 03:45:48 -04:00
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if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ACRO_BAL_ROLL/PITCH");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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2018-03-14 17:14:49 -03:00
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#endif
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2015-12-22 19:12:15 -04:00
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#if FRAME_CONFIG == HELI_FRAME
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// check helicopter parameters
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2017-01-09 03:45:48 -04:00
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if (!copter.motors->parameter_check(display_failure)) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
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2015-12-22 19:12:15 -04:00
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return false;
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}
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2018-05-12 23:42:38 -03:00
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// Inverted flight feature disabled for Heli Single and Dual frames
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2018-06-04 00:06:32 -03:00
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if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
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rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {
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2019-03-05 18:33:29 -04:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Inverted flight option not supported");
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2018-05-12 23:42:38 -03:00
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return false;
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}
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2019-01-26 10:33:32 -04:00
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// Ensure an Aux Channel is configured for motor interlock
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if (rc().find_channel_for_option(RC_Channel::aux_func_t::MOTOR_INTERLOCK) == nullptr) {
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2019-03-05 18:33:29 -04:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Motor Interlock not configured");
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2019-01-26 10:33:32 -04:00
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return false;
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}
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2015-12-22 19:12:15 -04:00
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#endif // HELI_FRAME
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2016-03-19 03:26:10 -03:00
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// check for missing terrain data
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2016-04-28 01:57:52 -03:00
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if (!pre_arm_terrain_check(display_failure)) {
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2016-03-19 03:26:10 -03:00
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return false;
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}
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2016-07-21 09:42:32 -03:00
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// check adsb avoidance failsafe
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2018-02-16 10:21:55 -04:00
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#if ADSB_ENABLED == ENABLE
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2017-01-09 03:45:48 -04:00
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if (copter.failsafe.adsb) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
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2016-07-21 09:42:32 -03:00
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return false;
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}
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2018-02-16 10:21:55 -04:00
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#endif
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2016-11-08 03:44:02 -04:00
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2019-01-09 22:26:15 -04:00
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// ensure controllers are OK with us arming:
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char failure_msg[50];
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if (!copter.pos_control->pre_arm_checks("PSC", failure_msg, ARRAY_SIZE(failure_msg))) {
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
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2017-11-15 07:59:08 -04:00
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return false;
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2019-01-09 22:26:15 -04:00
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}
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if (!copter.attitude_control->pre_arm_checks("ATC", failure_msg, ARRAY_SIZE(failure_msg))) {
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
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2017-11-15 07:59:08 -04:00
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return false;
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}
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2015-12-22 19:12:15 -04:00
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}
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2016-08-15 09:02:48 -03:00
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return true;
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}
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2016-12-13 22:30:36 -04:00
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// check motor setup was successful
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2017-01-09 01:43:39 -04:00
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bool AP_Arming_Copter::motor_checks(bool display_failure)
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2016-12-13 22:30:36 -04:00
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{
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// check motors initialised correctly
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2017-01-09 01:43:39 -04:00
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if (!copter.motors->initialised_ok()) {
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2017-08-09 08:36:19 -03:00
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check_failed(ARMING_CHECK_NONE, display_failure, "check firmware or FRAME_CLASS");
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2016-12-13 22:30:36 -04:00
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return false;
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}
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return true;
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}
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2017-01-09 03:45:48 -04:00
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bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
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2016-08-15 09:02:48 -03:00
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{
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2015-12-22 19:12:15 -04:00
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// check throttle is above failsafe throttle
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// this is near the bottom to allow other failures to be displayed before checking pilot throttle
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2017-01-09 03:45:48 -04:00
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
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if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
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2017-08-09 08:36:19 -03:00
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#if FRAME_CONFIG == HELI_FRAME
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const char *failmsg = "Collective below Failsafe";
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#else
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const char *failmsg = "Throttle below Failsafe";
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#endif
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check_failed(ARMING_CHECK_RC, display_failure, failmsg);
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2015-12-22 19:12:15 -04:00
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return false;
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}
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}
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return true;
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}
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2017-08-20 03:24:33 -03:00
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bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
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2015-12-22 19:12:15 -04:00
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{
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2017-01-19 22:04:22 -04:00
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const RC_Channel *channels[] = {
|
|
|
|
copter.channel_roll,
|
|
|
|
copter.channel_pitch,
|
|
|
|
copter.channel_throttle,
|
|
|
|
copter.channel_yaw
|
|
|
|
};
|
2015-12-22 19:12:15 -04:00
|
|
|
|
2017-09-04 01:16:40 -03:00
|
|
|
copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels)
|
|
|
|
& AP_Arming::rc_calibration_checks(display_failure);
|
|
|
|
|
2017-08-20 03:24:33 -03:00
|
|
|
return copter.ap.pre_arm_rc_check;
|
2015-12-22 19:12:15 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
// performs pre_arm gps related checks and returns true if passed
|
2017-07-15 04:53:00 -03:00
|
|
|
bool AP_Arming_Copter::gps_checks(bool display_failure)
|
2015-12-22 19:12:15 -04:00
|
|
|
{
|
2018-06-23 09:42:26 -03:00
|
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
|
|
|
2018-06-25 00:42:17 -03:00
|
|
|
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// always check if inertial nav has started and is ready
|
2019-04-01 00:41:42 -03:00
|
|
|
if (!ahrs.prearm_healthy()) {
|
|
|
|
const char *reason = ahrs.prearm_failure_reason();
|
|
|
|
if (reason == nullptr) {
|
|
|
|
reason = "AHRS not healthy";
|
|
|
|
}
|
|
|
|
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check if flight mode requires GPS
|
2017-01-16 23:27:24 -04:00
|
|
|
bool mode_requires_gps = copter.flightmode->requires_GPS();
|
2015-12-22 19:12:15 -04:00
|
|
|
|
2017-03-23 23:03:15 -03:00
|
|
|
// check if fence requires GPS
|
|
|
|
bool fence_requires_gps = false;
|
2015-12-22 19:12:15 -04:00
|
|
|
#if AC_FENCE == ENABLED
|
2017-03-23 23:03:15 -03:00
|
|
|
// if circular or polygon fence is enabled we need GPS
|
|
|
|
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
|
2015-12-22 19:12:15 -04:00
|
|
|
#endif
|
|
|
|
|
|
|
|
// return true if GPS is not required
|
2017-03-23 23:03:15 -03:00
|
|
|
if (!mode_requires_gps && !fence_requires_gps) {
|
2015-12-22 19:12:15 -04:00
|
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// ensure GPS is ok
|
2017-01-09 03:45:48 -04:00
|
|
|
if (!copter.position_ok()) {
|
2017-08-09 08:36:19 -03:00
|
|
|
const char *reason = ahrs.prearm_failure_reason();
|
|
|
|
if (reason == nullptr) {
|
|
|
|
if (!mode_requires_gps && fence_requires_gps) {
|
|
|
|
// clarify to user why they need GPS in non-GPS flight mode
|
|
|
|
reason = "Fence enabled, need 3D Fix";
|
2015-12-22 19:12:15 -04:00
|
|
|
} else {
|
2017-08-09 08:36:19 -03:00
|
|
|
reason = "Need 3D Fix";
|
2015-12-22 19:12:15 -04:00
|
|
|
}
|
|
|
|
}
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2017-07-25 08:41:18 -03:00
|
|
|
// check for GPS glitch (as reported by EKF)
|
|
|
|
nav_filter_status filt_status;
|
2018-06-25 00:42:17 -03:00
|
|
|
if (ahrs.get_filter_status(filt_status)) {
|
2017-07-25 08:41:18 -03:00
|
|
|
if (filt_status.flags.gps_glitching) {
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, display_failure, "GPS glitching");
|
2017-07-25 08:41:18 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// check EKF compass variance is below failsafe threshold
|
|
|
|
float vel_variance, pos_variance, hgt_variance, tas_variance;
|
|
|
|
Vector3f mag_variance;
|
|
|
|
Vector2f offset;
|
2018-06-25 00:42:17 -03:00
|
|
|
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
|
2017-01-09 03:45:48 -04:00
|
|
|
if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, display_failure, "EKF compass variance");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check home and EKF origin are not too far
|
2017-01-09 03:45:48 -04:00
|
|
|
if (copter.far_from_EKF_origin(ahrs.get_home())) {
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// return true immediately if gps check is disabled
|
2017-01-09 03:45:48 -04:00
|
|
|
if (!(checks_to_perform == ARMING_CHECK_ALL || checks_to_perform & ARMING_CHECK_GPS)) {
|
2015-12-22 19:12:15 -04:00
|
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// warn about hdop separately - to prevent user confusion with no gps lock
|
2017-01-09 03:45:48 -04:00
|
|
|
if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
|
2019-03-05 18:33:29 -04:00
|
|
|
check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2017-03-08 21:59:07 -04:00
|
|
|
// call parent gps checks
|
|
|
|
if (!AP_Arming::gps_checks(display_failure)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// if we got here all must be ok
|
|
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check ekf attitude is acceptable
|
2017-01-09 03:45:48 -04:00
|
|
|
bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
|
2015-12-22 19:12:15 -04:00
|
|
|
{
|
|
|
|
// get ekf filter status
|
2018-06-25 00:42:17 -03:00
|
|
|
nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
|
2015-12-22 19:12:15 -04:00
|
|
|
|
|
|
|
return filt_status.flags.attitude;
|
|
|
|
}
|
|
|
|
|
2016-03-19 03:26:10 -03:00
|
|
|
// check we have required terrain data
|
2017-01-09 03:45:48 -04:00
|
|
|
bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
|
2016-03-19 03:26:10 -03:00
|
|
|
{
|
2016-04-21 22:58:36 -03:00
|
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
2016-03-19 03:26:10 -03:00
|
|
|
// succeed if not using terrain data
|
2017-01-09 03:45:48 -04:00
|
|
|
if (!copter.terrain_use()) {
|
2016-03-19 03:26:10 -03:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
2016-04-28 01:57:52 -03:00
|
|
|
// check if terrain following is enabled, using a range finder but RTL_ALT is higher than rangefinder's max range
|
|
|
|
// To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check
|
2017-02-09 07:30:59 -04:00
|
|
|
|
|
|
|
if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) {
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT above rangefinder max range");
|
2016-04-28 01:57:52 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2016-03-19 03:26:10 -03:00
|
|
|
// show terrain statistics
|
|
|
|
uint16_t terr_pending, terr_loaded;
|
2017-01-09 03:45:48 -04:00
|
|
|
copter.terrain.get_statistics(terr_pending, terr_loaded);
|
2016-04-28 01:57:52 -03:00
|
|
|
bool have_all_data = (terr_pending <= 0);
|
2017-08-09 08:36:19 -03:00
|
|
|
if (!have_all_data) {
|
|
|
|
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Waiting for Terrain data");
|
2016-04-28 01:57:52 -03:00
|
|
|
}
|
|
|
|
return have_all_data;
|
2016-04-21 22:58:36 -03:00
|
|
|
#else
|
|
|
|
return true;
|
|
|
|
#endif
|
2016-03-19 03:26:10 -03:00
|
|
|
}
|
|
|
|
|
2016-11-08 03:44:02 -04:00
|
|
|
// check nothing is too close to vehicle
|
2019-05-29 23:31:06 -03:00
|
|
|
bool AP_Arming_Copter::proximity_checks(bool display_failure) const
|
2016-11-08 03:44:02 -04:00
|
|
|
{
|
|
|
|
#if PROXIMITY_ENABLED == ENABLED
|
|
|
|
|
2019-05-29 23:31:06 -03:00
|
|
|
if (!AP_Arming::proximity_checks(display_failure)) {
|
|
|
|
return false;
|
2016-11-08 03:44:02 -04:00
|
|
|
}
|
|
|
|
|
2019-05-29 23:31:06 -03:00
|
|
|
if (!((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS))) {
|
|
|
|
// check is disabled
|
|
|
|
return true;
|
2016-11-08 03:44:02 -04:00
|
|
|
}
|
|
|
|
|
2016-12-20 02:06:22 -04:00
|
|
|
// get closest object if we might use it for avoidance
|
2017-01-02 20:36:26 -04:00
|
|
|
#if AC_AVOID_ENABLED == ENABLED
|
2016-11-08 03:44:02 -04:00
|
|
|
float angle_deg, distance;
|
2016-12-26 04:04:13 -04:00
|
|
|
if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) {
|
2016-11-08 03:44:02 -04:00
|
|
|
// display error if something is within 60cm
|
|
|
|
if (distance <= 0.6f) {
|
2017-08-09 08:36:19 -03:00
|
|
|
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance);
|
2016-11-08 03:44:02 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
2017-01-02 20:36:26 -04:00
|
|
|
#endif
|
2016-11-08 03:44:02 -04:00
|
|
|
|
|
|
|
#endif
|
2018-12-23 05:04:49 -04:00
|
|
|
return true;
|
2016-11-08 03:44:02 -04:00
|
|
|
}
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// arm_checks - perform final checks before arming
|
|
|
|
// always called just before arming. Return true if ok to arm
|
|
|
|
// has side-effect that logging is started
|
2019-04-22 23:58:51 -03:00
|
|
|
bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
|
2015-12-22 19:12:15 -04:00
|
|
|
{
|
2018-06-25 00:42:17 -03:00
|
|
|
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// always check if inertial nav has started and is ready
|
2015-12-24 01:08:00 -04:00
|
|
|
if (!ahrs.healthy()) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, true, "AHRS not healthy");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2018-02-12 17:11:48 -04:00
|
|
|
#ifndef ALLOW_ARM_NO_COMPASS
|
2019-03-27 03:29:04 -03:00
|
|
|
const Compass &_compass = AP::compass();
|
2016-11-01 04:11:07 -03:00
|
|
|
// check compass health
|
2017-01-09 03:45:48 -04:00
|
|
|
if (!_compass.healthy()) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, true, "Compass not healthy");
|
2016-11-01 04:11:07 -03:00
|
|
|
return false;
|
|
|
|
}
|
2018-02-12 17:11:48 -04:00
|
|
|
#endif
|
2016-11-01 04:11:07 -03:00
|
|
|
|
2017-01-09 03:45:48 -04:00
|
|
|
control_mode_t control_mode = copter.control_mode;
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// always check if the current mode allows arming
|
2019-03-06 23:12:50 -04:00
|
|
|
if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, true, "Mode not armable");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2016-12-13 22:30:36 -04:00
|
|
|
// always check motors
|
2019-04-22 23:58:51 -03:00
|
|
|
if (!motor_checks(true)) {
|
2016-12-13 22:30:36 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// if we are using motor interlock switch and it's enabled, fail to arm
|
2016-08-02 04:07:48 -03:00
|
|
|
// skip check in Throw mode which takes control of the motor interlock
|
2018-05-31 21:32:44 -03:00
|
|
|
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, true, "Motor Interlock Enabled");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
|
|
|
|
// can run normally
|
2019-04-03 13:25:47 -03:00
|
|
|
if (!rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){
|
2019-01-25 14:57:36 -04:00
|
|
|
SRV_Channels::set_emergency_stop(false);
|
2015-12-22 19:12:15 -04:00
|
|
|
// if we are using motor Estop switch, it must not be in Estop position
|
2019-04-03 13:25:47 -03:00
|
|
|
} else if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) && SRV_Channels::get_emergency_stop()){
|
2017-07-08 21:56:49 -03:00
|
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// succeed if arming checks are disabled
|
2017-01-09 03:45:48 -04:00
|
|
|
if (checks_to_perform == ARMING_CHECK_NONE) {
|
2015-12-22 19:12:15 -04:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check lean angle
|
2017-01-09 03:45:48 -04:00
|
|
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
|
|
|
|
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_INS, true, "Leaning");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-07-21 09:42:32 -03:00
|
|
|
// check adsb
|
2018-02-16 10:21:55 -04:00
|
|
|
#if ADSB_ENABLED == ENABLE
|
2017-01-09 03:45:48 -04:00
|
|
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
|
|
|
|
if (copter.failsafe.adsb) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_PARAMETERS, true, "ADSB threat detected");
|
2016-07-21 09:42:32 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
}
|
2018-02-16 10:21:55 -04:00
|
|
|
#endif
|
2016-07-21 09:42:32 -03:00
|
|
|
|
2015-12-22 19:12:15 -04:00
|
|
|
// check throttle
|
2017-01-09 03:45:48 -04:00
|
|
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
|
2017-08-09 08:36:19 -03:00
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
|
|
const char *rc_item = "Collective";
|
|
|
|
#else
|
|
|
|
const char *rc_item = "Throttle";
|
|
|
|
#endif
|
2015-12-22 19:12:15 -04:00
|
|
|
// check throttle is not too low - must be above failsafe throttle
|
2017-01-09 03:45:48 -04:00
|
|
|
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_RC, true, "%s below failsafe", rc_item);
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check throttle is not too high - skips checks if arming from GCS in Guided
|
2019-03-06 23:12:50 -04:00
|
|
|
if (!(method == AP_Arming::Method::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
|
2015-12-22 19:12:15 -04:00
|
|
|
// above top of deadband is too always high
|
2017-01-09 03:45:48 -04:00
|
|
|
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// in manual modes throttle must be at zero
|
2019-03-27 14:56:30 -03:00
|
|
|
#if FRAME_CONFIG != HELI_FRAME
|
2017-12-05 19:56:38 -04:00
|
|
|
if ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
2019-03-27 14:56:30 -03:00
|
|
|
#endif
|
2015-12-22 19:12:15 -04:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// check if safety switch has been pushed
|
|
|
|
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
|
2019-04-22 23:58:51 -03:00
|
|
|
check_failed(ARMING_CHECK_NONE, true, "Safety Switch");
|
2015-12-22 19:12:15 -04:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2017-07-03 00:02:49 -03:00
|
|
|
// superclass method should always be the last thing called; it
|
|
|
|
// has side-effects which would need to be cleaned up if one of
|
|
|
|
// our arm checks failed
|
2018-06-24 23:09:23 -03:00
|
|
|
return AP_Arming::arm_checks(method);
|
2015-12-22 19:12:15 -04:00
|
|
|
}
|
2017-01-09 03:45:48 -04:00
|
|
|
|
2016-12-26 04:03:40 -04:00
|
|
|
void AP_Arming_Copter::set_pre_arm_check(bool b)
|
|
|
|
{
|
2017-09-03 23:10:14 -03:00
|
|
|
copter.ap.pre_arm_check = b;
|
|
|
|
AP_Notify::flags.pre_arm_check = b;
|
2016-12-26 04:03:40 -04:00
|
|
|
}
|
2019-05-29 20:37:28 -03:00
|
|
|
|
|
|
|
bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_checks)
|
|
|
|
{
|
|
|
|
static bool in_arm_motors = false;
|
|
|
|
|
|
|
|
// exit immediately if already in this function
|
|
|
|
if (in_arm_motors) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
in_arm_motors = true;
|
|
|
|
|
|
|
|
// return true if already armed
|
|
|
|
if (copter.motors->armed()) {
|
|
|
|
in_arm_motors = false;
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!AP_Arming::arm(method, do_arming_checks)) {
|
|
|
|
AP_Notify::events.arming_failed = true;
|
|
|
|
in_arm_motors = false;
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
// let logger know that we're armed (it may open logs e.g.)
|
|
|
|
AP::logger().set_vehicle_armed(true);
|
|
|
|
|
|
|
|
// disable cpu failsafe because initialising everything takes a while
|
|
|
|
copter.failsafe_disable();
|
|
|
|
|
|
|
|
// notify that arming will occur (we do this early to give plenty of warning)
|
|
|
|
AP_Notify::flags.armed = true;
|
|
|
|
// call notify update a few times to ensure the message gets out
|
|
|
|
for (uint8_t i=0; i<=10; i++) {
|
|
|
|
AP::notify().update();
|
|
|
|
}
|
|
|
|
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// Remember Orientation
|
|
|
|
// --------------------
|
|
|
|
copter.init_simple_bearing();
|
|
|
|
|
|
|
|
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
|
|
|
|
|
|
|
copter.initial_armed_bearing = ahrs.yaw_sensor;
|
|
|
|
|
|
|
|
if (!ahrs.home_is_set()) {
|
|
|
|
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
|
|
|
|
ahrs.resetHeightDatum();
|
|
|
|
AP::logger().Write_Event(DATA_EKF_ALT_RESET);
|
|
|
|
|
|
|
|
// we have reset height, so arming height is zero
|
|
|
|
copter.arming_altitude_m = 0;
|
|
|
|
} else if (!ahrs.home_is_locked()) {
|
|
|
|
// Reset home position if it has already been set before (but not locked)
|
|
|
|
if (!copter.set_home_to_current_location(false)) {
|
|
|
|
// ignore failure
|
|
|
|
}
|
|
|
|
|
|
|
|
// remember the height when we armed
|
|
|
|
copter.arming_altitude_m = copter.inertial_nav.get_altitude() * 0.01;
|
|
|
|
}
|
|
|
|
copter.update_super_simple_bearing(false);
|
|
|
|
|
|
|
|
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
|
|
|
|
#if MODE_SMARTRTL_ENABLED == ENABLED
|
|
|
|
copter.g2.smart_rtl.set_home(copter.position_ok());
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// enable gps velocity based centrefugal force compensation
|
|
|
|
ahrs.set_correct_centrifugal(true);
|
|
|
|
hal.util->set_soft_armed(true);
|
|
|
|
|
|
|
|
#if SPRAYER_ENABLED == ENABLED
|
|
|
|
// turn off sprayer's test if on
|
|
|
|
copter.sprayer.test_pump(false);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// enable output to motors
|
|
|
|
copter.enable_motor_output();
|
|
|
|
|
|
|
|
// finally actually arm the motors
|
|
|
|
copter.motors->armed(true);
|
|
|
|
|
|
|
|
AP::logger().Write_Event(DATA_ARMED);
|
|
|
|
|
|
|
|
// log flight mode in case it was changed while vehicle was disarmed
|
|
|
|
AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason);
|
|
|
|
|
|
|
|
// re-enable failsafe
|
|
|
|
copter.failsafe_enable();
|
|
|
|
|
|
|
|
// perf monitor ignores delay due to arming
|
|
|
|
AP::scheduler().perf_info.ignore_this_loop();
|
|
|
|
|
|
|
|
// flag exiting this function
|
|
|
|
in_arm_motors = false;
|
|
|
|
|
|
|
|
// Log time stamp of arming event
|
|
|
|
copter.arm_time_ms = millis();
|
|
|
|
|
|
|
|
// Start the arming delay
|
|
|
|
copter.ap.in_arming_delay = true;
|
|
|
|
|
|
|
|
// assumed armed without a arming, switch. Overridden in switches.cpp
|
|
|
|
copter.ap.armed_with_switch = false;
|
|
|
|
|
|
|
|
// return success
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// arming.disarm - disarm motors
|
|
|
|
bool AP_Arming_Copter::disarm()
|
|
|
|
{
|
|
|
|
// return immediately if we are already disarmed
|
|
|
|
if (!copter.motors->armed()) {
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!AP_Arming::disarm()) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
|
|
|
|
#endif
|
|
|
|
|
|
|
|
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
|
|
|
|
|
|
|
// save compass offsets learned by the EKF if enabled
|
|
|
|
Compass &compass = AP::compass();
|
|
|
|
if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
|
|
|
|
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
|
|
|
|
Vector3f magOffsets;
|
|
|
|
if (ahrs.getMagOffsets(i, magOffsets)) {
|
|
|
|
compass.set_and_save_offsets(i, magOffsets);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
|
|
// save auto tuned parameters
|
|
|
|
if (copter.flightmode == &copter.mode_autotune) {
|
|
|
|
copter.mode_autotune.save_tuning_gains();
|
|
|
|
} else {
|
|
|
|
copter.mode_autotune.reset();
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// we are not in the air
|
|
|
|
copter.set_land_complete(true);
|
|
|
|
copter.set_land_complete_maybe(true);
|
|
|
|
|
|
|
|
AP::logger().Write_Event(DATA_DISARMED);
|
|
|
|
|
|
|
|
// send disarm command to motors
|
|
|
|
copter.motors->armed(false);
|
|
|
|
|
|
|
|
#if MODE_AUTO_ENABLED == ENABLED
|
|
|
|
// reset the mission
|
|
|
|
copter.mode_auto.mission.reset();
|
|
|
|
#endif
|
|
|
|
|
|
|
|
AP::logger().set_vehicle_armed(false);
|
|
|
|
|
|
|
|
// disable gps velocity based centrefugal force compensation
|
|
|
|
ahrs.set_correct_centrifugal(false);
|
|
|
|
hal.util->set_soft_armed(false);
|
|
|
|
|
|
|
|
copter.ap.in_arming_delay = false;
|
|
|
|
|
|
|
|
return true;
|
|
|
|
}
|