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Copter: AP_Arming: correct overriding of arm_checks method 

This makes the arbitrary decision that arming checks always report
failures to the GCS.

Fixes:

In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
    bool arm_checks(bool display_failure, AP_Arming::Method method) override;
                                                                    ^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
    virtual bool arm_checks(AP_Arming::Method method);
                 ^
1 error generated.
This commit is contained in:
Peter Barker 2019-04-23 12:58:51 +10:00 committed by Andrew Tridgell
parent 6157aae747
commit 9f9531a790
3 changed files with 15 additions and 15 deletions
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26
ArduCopter/AP_Arming.cpp
View File

@ -20,7 +20,7 @@ bool AP_Arming_Copter::all_checks_passing(AP_Arming::Method method)
{
set_pre_arm_check(pre_arm_checks(true));
return copter.ap.pre_arm_check && arm_checks(true, method);
return copter.ap.pre_arm_check && arm_checks(method);
}
// perform pre-arm checks
@ -439,13 +439,13 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
// has side-effect that logging is started
bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method)
bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
{
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "AHRS not healthy");
check_failed(ARMING_CHECK_NONE, true, "AHRS not healthy");
return false;
}
@ -453,7 +453,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
const Compass &_compass = AP::compass();
// check compass health
if (!_compass.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass not healthy");
check_failed(ARMING_CHECK_NONE, true, "Compass not healthy");
return false;
}
#endif
@ -462,19 +462,19 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
// always check if the current mode allows arming
if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
check_failed(ARMING_CHECK_NONE, display_failure, "Mode not armable");
check_failed(ARMING_CHECK_NONE, true, "Mode not armable");
return false;
}
// always check motors
if (!motor_checks(display_failure)) {
if (!motor_checks(true)) {
return false;
}
// if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(ARMING_CHECK_NONE, display_failure, "Motor Interlock Enabled");
check_failed(ARMING_CHECK_NONE, true, "Motor Interlock Enabled");
return false;
}
@ -496,7 +496,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
// check lean angle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {
check_failed(ARMING_CHECK_INS, display_failure, "Leaning");
check_failed(ARMING_CHECK_INS, true, "Leaning");
return false;
}
}
@ -505,7 +505,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
#if ADSB_ENABLED == ENABLE
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
if (copter.failsafe.adsb) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
check_failed(ARMING_CHECK_PARAMETERS, true, "ADSB threat detected");
return false;
}
}
@ -520,7 +520,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
#endif
// check throttle is not too low - must be above failsafe throttle
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
check_failed(ARMING_CHECK_RC, display_failure, "%s below failsafe", rc_item);
check_failed(ARMING_CHECK_RC, true, "%s below failsafe", rc_item);
return false;
}
@ -528,13 +528,13 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
if (!(method == AP_Arming::Method::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
return false;
}
// in manual modes throttle must be at zero
#if FRAME_CONFIG != HELI_FRAME
if ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
return false;
}
#endif
@ -543,7 +543,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
check_failed(ARMING_CHECK_NONE, display_failure, "Safety Switch");
check_failed(ARMING_CHECK_NONE, true, "Safety Switch");
return false;
}

2
ArduCopter/AP_Arming.h
View File

@ -30,7 +30,7 @@ protected:
bool pre_arm_ekf_attitude_check();
bool pre_arm_terrain_check(bool display_failure);
bool pre_arm_proximity_check(bool display_failure);
bool arm_checks(bool display_failure, AP_Arming::Method method);
bool arm_checks(AP_Arming::Method method) override;
// NOTE! the following check functions *DO* call into AP_Arming:
bool ins_checks(bool display_failure) override;

2
Tools/ardupilotwaf/boards.py
View File

@ -332,7 +332,7 @@ class sitl(Board):
)
env.CXXFLAGS += [
'-Werror=float-equal',
'-Werror=float-equal'
]
if not cfg.env.DEBUG: