mirror of https://github.com/ArduPilot/ardupilot
Copter: correct rc-arming checks concerning trims
Trims should always be between min and max
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fdc536e024
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078866046a
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@ -343,34 +343,36 @@ void AP_Arming_Copter::pre_arm_rc_checks()
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return;
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}
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RC_Channel *&channel_roll = copter.channel_roll;
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RC_Channel *&channel_pitch = copter.channel_pitch;
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RC_Channel *&channel_throttle = copter.channel_throttle;
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RC_Channel *&channel_yaw = copter.channel_yaw;
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// check if radio has been calibrated
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if (!channel_throttle->min_max_configured()) {
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if (!copter.channel_throttle->min_max_configured()) {
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return;
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}
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// check channels 1 & 2 have min <= 1300 and max >= 1700
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if (channel_roll->get_radio_min() > 1300 || channel_roll->get_radio_max() < 1700 || channel_pitch->get_radio_min() > 1300 || channel_pitch->get_radio_max() < 1700) {
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return;
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}
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const RC_Channel *channels[] = {
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copter.channel_roll,
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copter.channel_pitch,
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copter.channel_throttle,
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copter.channel_yaw
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};
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// check channels 3 & 4 have min <= 1300 and max >= 1700
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if (channel_throttle->get_radio_min() > 1300 || channel_throttle->get_radio_max() < 1700 || channel_yaw->get_radio_min() > 1300 || channel_yaw->get_radio_max() < 1700) {
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return;
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}
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// check channels 1 & 2 have trim >= 1300 and <= 1700
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if (channel_roll->get_radio_trim() < 1300 || channel_roll->get_radio_trim() > 1700 || channel_pitch->get_radio_trim() < 1300 || channel_pitch->get_radio_trim() > 1700) {
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return;
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}
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// check channel 4 has trim >= 1300 and <= 1700
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if (channel_yaw->get_radio_trim() < 1300 || channel_yaw->get_radio_trim() > 1700) {
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return;
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for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
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const RC_Channel *channel = channels[i];
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if (channel->get_radio_min() > 1300) {
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return;
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}
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if (channel->get_radio_max() < 1700) {
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return;
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}
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if (i == 2) {
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// skip checking trim for throttle as older code did not check it
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continue;
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}
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if (channel->get_radio_trim() < channel->get_radio_min()) {
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return;
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}
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if (channel->get_radio_trim() > channel->get_radio_max()) {
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return;
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}
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}
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// if we've gotten this far rc is ok
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