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Copter: move common proximity pre-arm checks up

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It will not be possible to arm if a proximity sensor has been configured
but is not working after this patch.

The can't-arm-when-within-60cm-of-something check can still be disabled
with the PARAMETER arming check bit.
This commit is contained in:
Peter Barker 2019-05-30 12:31:06 +10:00 committed by Randy Mackay
parent df3a7d32ea
commit 3e098df65a
2 changed files with 7 additions and 14 deletions
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19
ArduCopter/AP_Arming.cpp
View File

@ -204,11 +204,6 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
}
#endif
// check for something close to vehicle
if (!pre_arm_proximity_check(display_failure)) {
return false;
}
// ensure controllers are OK with us arming:
char failure_msg[50];
if (!copter.pos_control->pre_arm_checks("PSC", failure_msg, ARRAY_SIZE(failure_msg))) {
@ -404,19 +399,17 @@ bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
}
// check nothing is too close to vehicle
bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
bool AP_Arming_Copter::proximity_checks(bool display_failure) const
{
#if PROXIMITY_ENABLED == ENABLED
// return true immediately if no sensor present
if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
return true;
if (!AP_Arming::proximity_checks(display_failure)) {
return false;
}
// return false if proximity sensor unhealthy
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "check proximity sensor");
return false;
if (!((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS))) {
// check is disabled
return true;
}
// get closest object if we might use it for avoidance

2
ArduCopter/AP_Arming.h
View File

@ -31,7 +31,7 @@ protected:
bool pre_arm_checks(bool display_failure) override;
bool pre_arm_ekf_attitude_check();
bool pre_arm_terrain_check(bool display_failure);
bool pre_arm_proximity_check(bool display_failure);
bool proximity_checks(bool display_failure) const override;
bool arm_checks(AP_Arming::Method method) override;
// NOTE! the following check functions *DO* call into AP_Arming: