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AP_Arming: Reduce response time when checks go from true to false

This commit is contained in:
olliw42 2023-11-24 09:54:25 +01:00 committed by Tom Pittenger
parent 4ffcc56cdb
commit 8f9df5a62e
2 changed files with 14 additions and 2 deletions
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13
libraries/AP_Arming/AP_Arming.cpp
View File

@ -183,7 +183,9 @@ void AP_Arming::update(void)
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
// perform pre-arm checks & display failures every 30 seconds // perform pre-arm checks & display failures every 30 seconds
bool display_fail = false; bool display_fail = false;
if (now_ms - last_prearm_display_ms > PREARM_DISPLAY_PERIOD*1000) { if ((report_immediately && (now_ms - last_prearm_display_ms > 4000)) ||
(now_ms - last_prearm_display_ms > PREARM_DISPLAY_PERIOD*1000)) {
report_immediately = false;
display_fail = true; display_fail = true;
last_prearm_display_ms = now_ms; last_prearm_display_ms = now_ms;
} }
@ -1540,7 +1542,7 @@ bool AP_Arming::pre_arm_checks(bool report)
} }
#endif #endif
return hardware_safety_check(report) bool checks_result = hardware_safety_check(report)
#if HAL_HAVE_IMU_HEATER #if HAL_HAVE_IMU_HEATER
& heater_min_temperature_checks(report) & heater_min_temperature_checks(report)
#endif #endif
@ -1575,6 +1577,13 @@ bool AP_Arming::pre_arm_checks(bool report)
& opendroneid_checks(report) & opendroneid_checks(report)
& serial_protocol_checks(report) & serial_protocol_checks(report)
& estop_checks(report); & estop_checks(report);
if (!checks_result && last_prearm_checks_result) { // check went from true to false
report_immediately = true;
}
last_prearm_checks_result = checks_result;
return checks_result;
} }
bool AP_Arming::arm_checks(AP_Arming::Method method) bool AP_Arming::arm_checks(AP_Arming::Method method)

3
libraries/AP_Arming/AP_Arming.h
View File

@ -304,6 +304,9 @@ private:
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
bool last_prearm_checks_result; // result of last prearm check
bool report_immediately; // set to true when check goes from true to false, to trigger immediate report
void update_arm_gpio(); void update_arm_gpio();
}; };