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Copter: pre-arm check of battery voltage

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This commit is contained in:
Randy Mackay 2015-07-01 22:52:44 +09:00
parent edc32092ce
commit 63052ff874
1 changed files with 20 additions and 0 deletions
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20
ArduCopter/motors.cpp
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@ -478,6 +478,16 @@ bool Copter::pre_arm_checks(bool display_failure)
#endif #endif
#endif #endif
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Battery"));
}
return false;
}
}
// check various parameter values // check various parameter values
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
@ -726,6 +736,16 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
} }
} }
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Check Battery"));
}
return false;
}
}
// check throttle // check throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
// check throttle is not too low - must be above failsafe throttle // check throttle is not too low - must be above failsafe throttle