ardupilot/ArduSub/AP_Arming_Sub.cpp

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#include "AP_Arming_Sub.h"
#include "Sub.h"
bool AP_Arming_Sub::rc_calibration_checks(bool display_failure)
{
const RC_Channel *channels[] = {
sub.channel_roll,
sub.channel_pitch,
sub.channel_throttle,
sub.channel_yaw
};
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return rc_checks_copter_sub(display_failure, channels);
}
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bool AP_Arming_Sub::pre_arm_checks(bool display_failure)
{
if (armed) {
return true;
}
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return AP_Arming::pre_arm_checks(display_failure);
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}
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bool AP_Arming_Sub::ins_checks(bool display_failure)
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{
// call parent class checks
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if (!AP_Arming::ins_checks(display_failure)) {
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return false;
}
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// additional sub-specific checks
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if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
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if (!AP::ahrs().healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason();
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if (reason == nullptr) {
reason = "AHRS not healthy";
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}
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check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
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return false;
}
}
return true;
}