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Copter: formatting fixes to arming checks

This commit is contained in:
Randy Mackay 2015-12-24 14:08:00 +09:00
parent 933ffb2b10
commit 1f3fa3e272
2 changed files with 24 additions and 25 deletions
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47
ArduCopter/arming_checks.cpp
View File

@ -14,12 +14,11 @@ void Copter::update_arming_checks(void)
pre_arm_display_counter = 0;
}
if(pre_arm_checks(display_fail)) {
if (pre_arm_checks(display_fail)) {
set_pre_arm_check(true);
}
}
// performs pre-arm checks and arming checks
bool Copter::all_arming_checks_passing(bool arming_from_gcs)
{
@ -68,7 +67,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
// succeed if pre arm checks are disabled
if(g.arming_check == ARMING_CHECK_NONE) {
if (g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return true;
@ -76,7 +75,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// pre-arm rc checks a prerequisite
pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) {
if (!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
}
@ -85,7 +84,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check Baro
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// barometer health check
if(!barometer.all_healthy()) {
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
}
@ -109,7 +108,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
// check the primary compass is healthy
if(!compass.healthy()) {
if (!compass.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
}
@ -117,7 +116,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
// check compass learning is on or offsets have been set
if(!compass.configured()) {
if (!compass.configured()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
}
@ -126,7 +125,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets();
if(offsets.length() > COMPASS_OFFSETS_MAX) {
if (offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
}
@ -159,7 +158,7 @@ bool Copter::pre_arm_checks(bool display_failure)
#if AC_FENCE == ENABLED
// check fence is initialised
if(!fence.pre_arm_check()) {
if (!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
}
@ -170,7 +169,7 @@ bool Copter::pre_arm_checks(bool display_failure)
// check INS
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
// check accelerometers have been calibrated
if(!ins.accel_calibrated_ok_all()) {
if (!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
}
@ -178,7 +177,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
// check accels are healthy
if(!ins.get_accel_health_all()) {
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
}
@ -195,9 +194,9 @@ bool Copter::pre_arm_checks(bool display_failure)
float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
if (i >= 2) {
/*
* for boards with 3 IMUs we only use the first two
* in the EKF. Allow for larger accel discrepancy
* for IMU3 as it may be running at a different temperature
* for boards with 3 IMUs we only use the first two
* in the EKF. Allow for larger accel discrepancy
* for IMU3 as it may be running at a different temperature
*/
threshold *= 2;
}
@ -211,7 +210,7 @@ bool Copter::pre_arm_checks(bool display_failure)
}
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
}
@ -244,7 +243,7 @@ bool Copter::pre_arm_checks(bool display_failure)
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
// check board voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if(hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
}
@ -341,7 +340,7 @@ bool Copter::pre_arm_checks(bool display_failure)
void Copter::pre_arm_rc_checks()
{
// exit immediately if we've already successfully performed the pre-arm rc check
if( ap.pre_arm_rc_check ) {
if (ap.pre_arm_rc_check) {
return;
}
@ -352,7 +351,7 @@ void Copter::pre_arm_rc_checks()
}
// check if radio has been calibrated
if(!channel_throttle->radio_min.configured() && !channel_throttle->radio_max.configured()) {
if (!channel_throttle->radio_min.configured() && !channel_throttle->radio_max.configured()) {
return;
}
@ -384,7 +383,7 @@ void Copter::pre_arm_rc_checks()
bool Copter::pre_arm_gps_checks(bool display_failure)
{
// always check if inertial nav has started and is ready
if(!ahrs.healthy()) {
if (!ahrs.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
}
@ -483,13 +482,13 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
// check accels and gyro are healthy
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if(!ins.get_accel_health_all()) {
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");
}
return false;
}
if(!ins.get_gyro_health_all()) {
if (!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
}
@ -505,14 +504,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
}
// always check if inertial nav has started and is ready
if(!ahrs.healthy()) {
if (!ahrs.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
}
return false;
}
if(compass.is_calibrating()) {
if (compass.is_calibrating()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
}
@ -577,7 +576,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
#if AC_FENCE == ENABLED
// check vehicle is within fence
if(!fence.pre_arm_check()) {
if (!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence");
}

2
ArduCopter/motors.cpp
View File

@ -133,7 +133,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
in_arm_motors = true;
// run pre-arm-checks and display failures
if(!all_arming_checks_passing(arming_from_gcs)) {
if (!all_arming_checks_passing(arming_from_gcs)) {
AP_Notify::events.arming_failed = true;
in_arm_motors = false;
return false;