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AP_MotorsHeli: Add more parameter checks.

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This commit is contained in:
Robert Lefebvre 2015-11-30 15:16:04 -05:00 committed by Randy Mackay
parent 652283a570
commit 3a13db9333
3 changed files with 36 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsHeli.h
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@ -98,7 +98,7 @@ public:
//
// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
bool parameter_check(bool display_msg) const;
virtual bool parameter_check(bool display_msg) const;
// has_flybar - returns true if we have a mechical flybar
virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }

32
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -18,6 +18,7 @@
#include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h>
#include "AP_MotorsHeli_Single.h"
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -534,3 +535,34 @@ void AP_MotorsHeli_Single::servo_test()
_pitch_control_input = _pitch_test;
_yaw_control_input = _yaw_test;
}
// parameter_check - check if helicopter specific parameters are sensible
bool AP_MotorsHeli_Single::parameter_check(bool display_msg) const
{
// returns false if Phase Angle is outside of range
if ((_phase_angle > 90) || (_phase_angle < -90)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_PHANG out of range");
}
return false;
}
// returns false if Acro External Gyro Gain is outside of range
if ((_ext_gyro_gain_acro < 0) || (_ext_gyro_gain_acro > 1000)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN_ACRO out of range");
}
return false;
}
// returns false if Standard External Gyro Gain is outside of range
if ((_ext_gyro_gain_std < 0) || (_ext_gyro_gain_std > 1000)){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN out of range");
}
return false;
}
// check parent class parameters
return AP_MotorsHeli::parameter_check(display_msg);
}

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -126,6 +126,9 @@ public:
// servo_test - move servos through full range of movement
void servo_test();
// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
bool parameter_check(bool display_msg) const;
// var_info
static const struct AP_Param::GroupInfo var_info[];