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AP_Arming: Add a RC check that (<= min trim max) for all channels

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This commit is contained in:
Michael du Breuil 2018-04-19 12:59:35 -07:00 committed by Francisco Ferreira
parent d2429fa0bc
commit 1b18a78d1d
1 changed files with 22 additions and 1 deletions
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23
libraries/AP_Arming/AP_Arming.cpp
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@ -455,7 +455,28 @@ bool AP_Arming::hardware_safety_check(bool report)
bool AP_Arming::rc_calibration_checks(bool report)
{
return true;
bool check_passed = true;
for (uint8_t i = 0; i < NUM_RC_CHANNELS; i++) {
const RC_Channel *ch = RC_Channels::rc_channel(i);
if (ch == nullptr) {
continue;
}
const uint16_t trim = ch->get_radio_trim();
if (ch->get_radio_min() > trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d minimum is greater than trim", i + 1);
}
check_passed = false;
}
if (ch->get_radio_max() < trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d maximum is less than trim", i + 1);
}
check_passed = false;
}
}
return check_passed;
}
bool AP_Arming::manual_transmitter_checks(bool report)