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AR_Motors: Add prearm check for no outputs

This commit is contained in:
Stephen Dade 2023-11-26 14:48:42 +11:00 committed by Randy Mackay
parent 5f1f3e5519
commit 73eb3b0590
1 changed files with 12 additions and 0 deletions
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12
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -457,6 +457,18 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
// returns true if checks pass, false if they fail. report should be true to send text messages to GCS // returns true if checks pass, false if they fail. report should be true to send text messages to GCS
bool AP_MotorsUGV::pre_arm_check(bool report) const bool AP_MotorsUGV::pre_arm_check(bool report) const
{ {
// check that there's defined outputs, inc scripting and sail
if(!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight) &&
!SRV_Channels::function_assigned(SRV_Channel::k_throttle) &&
!SRV_Channels::function_assigned(SRV_Channel::k_steering) &&
!SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
!has_sail()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
}
return false;
}
// check if only one of skid-steering output has been configured // check if only one of skid-steering output has been configured
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) { if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
if (report) { if (report) {