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Copter: make terrain failure strings human-readable

This commit is contained in:
Peter Barker 2021-02-03 14:07:23 +11:00 committed by Peter Barker
parent f65bee80dc
commit 7bbc699165
1 changed files with 7 additions and 6 deletions
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13
ArduCopter/AP_Arming.cpp
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@ -236,37 +236,38 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
#if MODE_RTL_ENABLED == ENABLED
if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
// get terrain source from wpnav
const char *failure_template = "RTL_ALT_TYPE is above-terrain but %s";
switch (copter.wp_nav->get_terrain_source()) {
case AC_WPNav::TerrainSource::TERRAIN_UNAVAILABLE:
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1 but no terrain data");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "no terrain data");
return false;
break;
case AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER:
if (!copter.rangefinder_state.enabled || !copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1 but no rangefinder");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "no rangefinder");
return false;
}
// check if RTL_ALT is higher than rangefinder's max range
if (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1 but RTL_ALT>RNGFND_MAX_CM");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "RTL_ALT>RNGFND_MAX_CM");
return false;
}
break;
case AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
if (!copter.terrain.enabled()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1 but terrain disabled");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "terrain disabled");
return false;
}
// check terrain data is loaded
uint16_t terr_pending, terr_loaded;
copter.terrain.get_statistics(terr_pending, terr_loaded);
if (terr_pending != 0) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1, waiting for terrain data");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "waiting for terrain data");
return false;
}
#else
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT_TYPE=1 but terrain disabled");
check_failed(ARMING_CHECK_PARAMETERS, display_failure, failure_template, "terrain disabled");
return false;
#endif
break;