Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: gyrofft arming checks

This commit is contained in:
Andy Piper 2020-01-01 20:34:39 +00:00 committed by Andrew Tridgell
parent 6613d4da3d
commit 7663c67eec
1 changed files with 17 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_Arming/AP_Arming.cpp
View File

@ -34,6 +34,7 @@
#include <AP_Terrain/AP_Terrain.h>
#include <AP_Scripting/AP_Scripting.h>
#include <AP_Camera/AP_RunCam.h>
#include <AP_GyroFFT/AP_GyroFFT.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
@ -363,6 +364,15 @@ bool AP_Arming::ins_checks(bool report)
check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
return false;
}
#if HAL_GYROFFT_ENABLED
// Check that the noise analyser works
AP_GyroFFT *fft = AP::fft();
if (fft != nullptr && !fft->calibration_check()) {
check_failed(ARMING_CHECK_INS, report, "FFT self-test failed");
return false;
};
#endif
}
return true;
@ -950,6 +960,13 @@ bool AP_Arming::disarm()
}
#endif // HAL_HAVE_SAFETY_SWITCH
#if HAL_GYROFFT_ENABLED
AP_GyroFFT *fft = AP::fft();
if (fft != nullptr) {
fft->save_params_on_disarm();
}
#endif
return true;
}