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Copter: AP_Arming: print multiple failures at once.

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Iampete1 2023-07-18 21:18:53 +01:00 committed by Randy Mackay
parent 3e246c9d25
commit 40414499fd
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/AP_Arming.cpp
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@ -23,11 +23,12 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
// check if motor interlock and either Emergency Stop aux switches are used // check if motor interlock and either Emergency Stop aux switches are used
// at the same time. This cannot be allowed. // at the same time. This cannot be allowed.
bool passed = true;
if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) && if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
(rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) || (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) ||
rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP))){ rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP))){
check_failed(display_failure, "Interlock/E-Stop Conflict"); check_failed(display_failure, "Interlock/E-Stop Conflict");
return false; passed = false;
} }
// check if motor interlock aux switch is in use // check if motor interlock aux switch is in use
@ -35,17 +36,22 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
// otherwise exit immediately. // otherwise exit immediately.
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(display_failure, "Motor Interlock Enabled"); check_failed(display_failure, "Motor Interlock Enabled");
return false; passed = false;
} }
if (!disarm_switch_checks(display_failure)) { if (!disarm_switch_checks(display_failure)) {
return false; passed = false;
} }
// always check motors // always check motors
char failure_msg[50] {}; char failure_msg[50] {};
if (!copter.motors->arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) { if (!copter.motors->arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
check_failed(display_failure, "Motors: %s", failure_msg); check_failed(display_failure, "Motors: %s", failure_msg);
passed = false;
}
// If not passed all checks return false
if (!passed) {
return false; return false;
} }