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Copter: correct rc-arming checks concerning trims 

Trims should always be between min and max
This commit is contained in:
Peter Barker 2017-01-20 13:04:22 +11:00 committed by Randy Mackay
parent fdc536e024
commit 078866046a
1 changed files with 25 additions and 23 deletions
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36
ArduCopter/AP_Arming.cpp
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@ -343,35 +343,37 @@ void AP_Arming_Copter::pre_arm_rc_checks()
return;
}
RC_Channel *&channel_roll = copter.channel_roll;
RC_Channel *&channel_pitch = copter.channel_pitch;
RC_Channel *&channel_throttle = copter.channel_throttle;
RC_Channel *&channel_yaw = copter.channel_yaw;
// check if radio has been calibrated
if (!channel_throttle->min_max_configured()) {
if (!copter.channel_throttle->min_max_configured()) {
return;
}
// check channels 1 & 2 have min <= 1300 and max >= 1700
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) {
const RC_Channel *channels[] = {
copter.channel_roll,
copter.channel_pitch,
copter.channel_throttle,
copter.channel_yaw
};
for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
const RC_Channel *channel = channels[i];
if (channel->get_radio_min() > 1300) {
return;
}
// check channels 3 & 4 have min <= 1300 and max >= 1700
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) {
if (channel->get_radio_max() < 1700) {
return;
}
// check channels 1 & 2 have trim >= 1300 and <= 1700
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) {
if (i == 2) {
// skip checking trim for throttle as older code did not check it
continue;
}
if (channel->get_radio_trim() < channel->get_radio_min()) {
return;
}
// check channel 4 has trim >= 1300 and <= 1700
if (channel_yaw->get_radio_trim() < 1300 || channel_yaw->get_radio_trim() > 1700) {
if (channel->get_radio_trim() > channel->get_radio_max()) {
return;
}
}
// if we've gotten this far rc is ok
set_pre_arm_rc_check(true);