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Plane: use arming check_failed function

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This commit is contained in:
Peter Barker 2017-08-09 21:22:15 +10:00
parent 3f0a56a818
commit 23919daf11
1 changed files with 21 additions and 43 deletions
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64
ArduPlane/AP_Arming.cpp
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@ -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;
}
}