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AP_Motors: Multicopter: add motor pwm param range check

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Iampete1 2022-09-13 15:10:44 +01:00 committed by Randy Mackay
parent e585757338
commit 7cafcf7b90
1 changed files with 14 additions and 2 deletions
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16
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -19,6 +19,13 @@
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AP_MOTORS_PARAM_PREFIX "Q_M_"
#else
#define AP_MOTORS_PARAM_PREFIX "MOT_"
#endif
extern const AP_HAL::HAL& hal;
// parameters for the motor class
@ -823,12 +830,17 @@ bool AP_MotorsMulticopter::arming_checks(size_t buflen, char *buffer) const
}
}
// Check param config
if (_spin_min > 0.3) {
hal.util->snprintf(buffer, buflen, "SPIN_MIN too high %.2f, max 0.3", _spin_min.get());
hal.util->snprintf(buffer, buflen, "%sSPIN_MIN too high %.2f > 0.3", AP_MOTORS_PARAM_PREFIX, _spin_min.get());
return false;
}
if (_spin_arm > _spin_min) {
hal.util->snprintf(buffer, buflen, "SPIN_ARM higher than SPIN_MIN");
hal.util->snprintf(buffer, buflen, "%sSPIN_ARM > %sSPIN_MIN", AP_MOTORS_PARAM_PREFIX, AP_MOTORS_PARAM_PREFIX);
return false;
}
if (!check_mot_pwm_params()) {
hal.util->snprintf(buffer, buflen, "Check %sPWM_MIN and %sPWM_MAX", AP_MOTORS_PARAM_PREFIX, AP_MOTORS_PARAM_PREFIX);
return false;
}