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Copter: factor out an rc_throttle_failsafe_checks method

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NFC, preparing to call this from elsewhere
This commit is contained in:
Peter Barker 2022-08-04 13:03:16 +10:00 committed by Randy Mackay
parent 46dacd3b61
commit 1e3f37908c
2 changed files with 33 additions and 6 deletions
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38
ArduCopter/AP_Arming.cpp
View File

@ -63,6 +63,34 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
& AP_Arming::pre_arm_checks(display_failure);
}
bool AP_Arming_Copter::rc_throttle_failsafe_checks(bool display_failure) const
{
// throttle failsafe. In this case the parameter also gates the
// no-pulses RC failure case - the radio-in value can be zero due
// to not having received any RC pulses at all. Note that if we
// have ever seen RC and then we *lose* RC then these checks are
// likely to pass if the user is relying on no-pulses to detect RC
// failure. However, arming is precluded in that case by being in
// RC failsafe.
if (copter.g.failsafe_throttle == FS_THR_DISABLED) {
return true;
}
#if FRAME_CONFIG == HELI_FRAME
const char *rc_item = "Collective";
#else
const char *rc_item = "Throttle";
#endif
// check throttle is not too low - must be above failsafe throttle
if (copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
check_failed(ARMING_CHECK_RC, true, "%s below failsafe", rc_item);
return false;
}
return true;
}
bool AP_Arming_Copter::barometer_checks(bool display_failure)
{
if (!AP_Arming::barometer_checks(display_failure)) {
@ -597,17 +625,15 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// check throttle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
if (!rc_throttle_failsafe_checks(true)) {
return false;
}
#if FRAME_CONFIG == HELI_FRAME
const char *rc_item = "Collective";
#else
const char *rc_item = "Throttle";
#endif
// check throttle is not too low - must be above failsafe throttle
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
check_failed(ARMING_CHECK_RC, true, "%s below failsafe", rc_item);
return false;
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(method == AP_Arming::Method::MAVLINK && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS))) {
// above top of deadband is too always high

1
ArduCopter/AP_Arming.h
View File

@ -48,6 +48,7 @@ protected:
bool gcs_failsafe_check(bool display_failure);
bool winch_checks(bool display_failure) const;
bool alt_checks(bool display_failure);
bool rc_throttle_failsafe_checks(bool display_failure) const;
void set_pre_arm_check(bool b);