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Rover: add pre_arm_rc_checks

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This commit is contained in:
khancyr 2017-06-30 20:48:35 +02:00 committed by Randy Mackay
parent f87a69dcf2
commit 8223743df8
2 changed files with 54 additions and 0 deletions
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52
APMrover2/AP_Arming.cpp
View File

@ -5,3 +5,55 @@ enum HomeState AP_Arming_Rover::home_status() const
{
return rover.home_is_set;
}
// perform pre_arm_rc_checks checks
bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
{
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
return true;
}
const RC_Channel *channels[] = {
rover.channel_steer,
rover.channel_throttle,
};
const char *channel_names[] = {"Steer", "Throttle"};
for (uint8_t i= 0 ; i < ARRAY_SIZE(channels); i++) {
const RC_Channel *channel = channels[i];
const char *channel_name = channel_names[i];
// check if radio has been calibrated
if (!channel->min_max_configured()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC %s not configured", channel_name);
}
return false;
}
if (channel->get_radio_min() > 1300) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio min too high", channel_name);
}
return false;
}
if (channel->get_radio_max() < 1700) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio max too low", channel_name);
}
return false;
}
if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim below min", channel_name);
}
return false;
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim above max", channel_name);
}
return false;
}
}
return true;
}

2
APMrover2/AP_Arming.h
View File

@ -14,6 +14,8 @@ public:
AP_Arming(ahrs_ref, baro, compass, battery) {
}
bool pre_arm_rc_checks(const bool display_failure);
protected:
enum HomeState home_status() const override;