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Rover : add pilot_throttle_checks() to check throttle failsafe

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This adds pilot_throttle_checks to check for throttle failsafe and prevents arming if throttle failsafe is triggered
This commit is contained in:
Shiv Tyagi 2021-10-21 09:21:20 +05:30 committed by Randy Mackay
parent 50f9d2601f
commit 1b8fc31fcd
2 changed files with 16 additions and 1 deletions
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16
Rover/AP_Arming.cpp
View File

@ -89,7 +89,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
& motor_checks(report) & motor_checks(report)
& oa_check(report) & oa_check(report)
& parameter_checks(report) & parameter_checks(report)
& mode_checks(report)); & mode_checks(report)
& pilot_throttle_checks(report));
} }
bool AP_Arming_Rover::arm_checks(AP_Arming::Method method) bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@ -188,6 +189,19 @@ bool AP_Arming_Rover::parameter_checks(bool report)
return true; return true;
} }
// check throttle is above failsafe throttle
bool AP_Arming_Rover::pilot_throttle_checks(bool report)
{
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
if (rover.g.fs_throttle_enabled != FS_THR_DISABLED && rover.channel_throttle->get_radio_in() < rover.g.fs_throttle_value) {
check_failed(ARMING_CHECK_RC, report, "Throttle below failsafe");
return false;
}
}
return true;
}
// check if arming allowed from this mode // check if arming allowed from this mode
bool AP_Arming_Rover::mode_checks(bool report) bool AP_Arming_Rover::mode_checks(bool report)
{ {

1
Rover/AP_Arming.h
View File

@ -32,5 +32,6 @@ protected:
bool parameter_checks(bool report); bool parameter_checks(bool report);
bool mode_checks(bool report); bool mode_checks(bool report);
bool motor_checks(bool report); bool motor_checks(bool report);
bool pilot_throttle_checks(bool report);
}; };