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Copter: move Copter RC checking code into library

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This commit is contained in:
Peter Barker 2017-08-10 09:11:40 +10:00 committed by Randy Mackay
parent b2459c67d5
commit 0a2177de58
1 changed files with 1 additions and 49 deletions
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50
ArduCopter/AP_Arming.cpp
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@ -330,62 +330,14 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
return;
}
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
set_pre_arm_rc_check(true);
return;
}
const RC_Channel *channels[] = {
copter.channel_roll,
copter.channel_pitch,
copter.channel_throttle,
copter.channel_yaw
};
const char *channel_names[] = { "Roll", "Pitch", "Throttle", "Yaw" };
for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
const RC_Channel *channel = channels[i];
const char *channel_name = channel_names[i];
// check if radio has been calibrated
if (!channel->min_max_configured()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC %s not configured", channel_name);
}
return;
}
if (channel->get_radio_min() > 1300) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);
}
return;
}
if (channel->get_radio_max() < 1700) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name);
}
return;
}
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()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
}
return;
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
}
return;
}
}
// if we've gotten this far rc is ok
set_pre_arm_rc_check(true);
copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels);
}
// performs pre_arm gps related checks and returns true if passed