From 23919daf118888c03e9688565dc5f1edf14e9871 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 9 Aug 2017 21:22:15 +1000
Subject: [PATCH] Plane: use arming check_failed function

---
 ArduPlane/AP_Arming.cpp | 64 ++++++++++++++---------------------------
 1 file changed, 21 insertions(+), 43 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index a52a86ad19..0bae9256eb 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -22,80 +22,61 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
   additional arming checks for plane
 
  */
-bool AP_Arming_Plane::pre_arm_checks(bool report)
+bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
 {
     // call parent class checks
-    bool ret = AP_Arming::pre_arm_checks(report);
+    bool ret = AP_Arming::pre_arm_checks(display_failure);
 
     // Check airspeed sensor
-    ret &= AP_Arming::airspeed_checks(report);
+    ret &= AP_Arming::airspeed_checks(display_failure);
 
     if (plane.g.fs_timeout_long < plane.g.fs_timeout_short && plane.g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
         ret = false;
     }
 
     if (plane.aparm.roll_limit_cd < 300) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
-        }
-        ret = false;        
+        check_failed(ARMING_CHECK_NONE, display_failure, "LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
+        ret = false;
     }
 
     if (plane.aparm.pitch_limit_max_cd < 300) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
-        }
-        ret = false;        
+        check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
+        ret = false;
     }
 
     if (plane.aparm.pitch_limit_min_cd > -300) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
-        }
-        ret = false;        
+        check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
+        ret = false;
     }
 
     if (plane.channel_throttle->get_reverse() && 
         plane.g.throttle_fs_enabled &&
         plane.g.throttle_fs_value < 
         plane.channel_throttle->get_radio_max()) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "Invalid THR_FS_VALUE for rev throttle");
         ret = false;
     }
 
     if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "quadplane needs SCHED_LOOP_RATE >= 100");
         ret = false;
     }
 
     if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "No mission loaded");
         ret = false;
     }
 
     // check adsb avoidance failsafe
     if (plane.failsafe.adsb) {
-        if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "ADSB threat detected");
         ret = false;
     }
 
 #if HAVE_PX4_MIXER
     if (plane.last_mixer_crc == -1) {
-        if (report) {
-            // if you ever get this error, a reboot is recommended.
-            gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error");
-        }
+        check_failed(ARMING_CHECK_NONE, display_failure, "Mixer error");
         ret = false;
     }
 #endif // CONFIG_HAL_BOARD
@@ -103,10 +84,10 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
     return ret;
 }
 
-bool AP_Arming_Plane::ins_checks(bool report)
+bool AP_Arming_Plane::ins_checks(bool display_failure)
 {
     // call parent class checks
-    if (!AP_Arming::ins_checks(report)) {
+    if (!AP_Arming::ins_checks(display_failure)) {
         return false;
     }
 
@@ -114,14 +95,11 @@ bool AP_Arming_Plane::ins_checks(bool report)
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_INS)) {
         if (!ahrs.healthy()) {
-            if (report) {
-                const char *reason = ahrs.prearm_failure_reason();
-                if (reason) {
-                    gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
-                } else {
-                    gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
-                }
+            const char *reason = ahrs.prearm_failure_reason();
+            if (reason == nullptr) {
+                reason = "AHRS not healthy";
             }
+            check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
             return false;
         }
     }