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AP_Arming: move multiple RC input error to pre-arm failure

This commit is contained in:
Henry Wurzburg 2022-10-21 13:50:45 -05:00 committed by Andrew Tridgell
parent d253b725fb
commit 16e21d42ee
2 changed files with 16 additions and 1 deletions
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15
libraries/AP_Arming/AP_Arming.cpp
View File

@ -49,6 +49,7 @@
#include <AP_RPM/AP_RPM.h>
#include <AP_Mount/AP_Mount.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include <AP_SerialManager/AP_SerialManager.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
@ -1407,6 +1408,16 @@ bool AP_Arming::opendroneid_checks(bool display_failure)
return true;
}
//Check for multiple RC in serial protocols
bool AP_Arming::serial_protocol_checks(bool display_failure)
{
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_RCIN, 1)) {
check_failed(display_failure, "Multiple SERIAL ports configured for RC input");
return false;
}
return true;
}
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_COPTER_OR_HELI
@ -1445,7 +1456,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& aux_auth_checks(report)
& disarm_switch_checks(report)
& fence_checks(report)
& opendroneid_checks(report);
& opendroneid_checks(report)
& serial_protocol_checks(report);
}
bool AP_Arming::arm_checks(AP_Arming::Method method)
@ -1503,6 +1515,7 @@ bool AP_Arming::mandatory_checks(bool report)
ret &= opendroneid_checks(report);
#endif
ret &= rc_in_calibration_check(report);
ret &= serial_protocol_checks(report);
return ret;
}

2
libraries/AP_Arming/AP_Arming.h
View File

@ -202,6 +202,8 @@ protected:
bool opendroneid_checks(bool display_failure);
bool serial_protocol_checks(bool display_failure);
virtual bool system_checks(bool report);
bool can_checks(bool report);