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AP_Arming: Add GPS configuration checks to arming

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Michael du Breuil 2016-02-02 00:45:41 -07:00 committed by Tom Pittenger
parent 4251ee0e4b
commit 18f55eccea
2 changed files with 16 additions and 5 deletions
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18
libraries/AP_Arming/AP_Arming.cpp
View File

@ -38,8 +38,8 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Param: CHECK
// @DisplayName: Arm Checks to Peform (bitmask)
// @Description: Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks.
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Failsafe,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Failsafe,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration
// @User: Standard
AP_GROUPINFO("CHECK", 2, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
@ -305,9 +305,8 @@ bool AP_Arming::compass_checks(bool report)
bool AP_Arming::gps_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) {
const AP_GPS &gps = ahrs.get_gps();
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS)) {
//GPS OK?
if (home_is_set == HOME_UNSET ||
@ -319,6 +318,17 @@ bool AP_Arming::gps_checks(bool report)
}
}
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d has not been fully configured",
first_unconfigured);
}
return false;
}
}
return true;
}

1
libraries/AP_Arming/AP_Arming.h
View File

@ -24,6 +24,7 @@ public:
ARMING_CHECK_AIRSPEED = 0x0200,
ARMING_CHECK_LOGGING = 0x0400,
ARMING_CHECK_SWITCH = 0x0800,
ARMING_CHECK_GPS_CONFIG = 0x1600,
};
enum ArmingMethod {