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Rover: use arming check_failed function

This commit is contained in:
Peter Barker 2017-08-09 21:11:13 +10:00
parent 291102360a
commit 3f0a56a818
1 changed files with 5 additions and 15 deletions
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20
APMrover2/AP_Arming.cpp
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@ -20,33 +20,23 @@ bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
const char *channel_name = channel_names[i];
// check if radio has been calibrated
if (!channel->min_max_configured()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC %s not configured", channel_name);
}
check_failed(ARMING_CHECK_RC, display_failure, "RC %s not configured", channel_name);
return false;
}
if (channel->get_radio_min() > 1300) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio min too high", channel_name);
}
check_failed(ARMING_CHECK_RC, display_failure, "%s radio min too high", channel_name);
return false;
}
if (channel->get_radio_max() < 1700) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio max too low", channel_name);
}
check_failed(ARMING_CHECK_RC, display_failure, "%s radio max too low", channel_name);
return false;
}
if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim below min", channel_name);
}
check_failed(ARMING_CHECK_RC, display_failure, "%s radio trim below min", channel_name);
return false;
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim above max", channel_name);
}
check_failed(ARMING_CHECK_RC, display_failure, "%s radio trim above max", channel_name);
return false;
}
}