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Copter: pre-arm check for ToshibaCAN ESC pwm range

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This commit is contained in:
Randy Mackay 2019-08-10 17:03:32 +09:00
parent 973caf26f7
commit a3bde4f054
1 changed files with 22 additions and 0 deletions
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22
ArduCopter/AP_Arming.cpp
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@ -241,6 +241,28 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
check_failed(ARMING_CHECK_NONE, display_failure, "check firmware or FRAME_CLASS");
return false;
}
// if this is a multicopter using ToshibaCAN ESCs ensure MOT_PMW_MIN = 1000, MOT_PWM_MAX = 2000
#if HAL_WITH_UAVCAN && (FRAME_CONFIG != HELI_FRAME)
bool tcan_active = false;
const uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
tcan_active = true;
}
}
if (tcan_active) {
if (copter.motors->get_pwm_output_min() != 1000) {
check_failed(ARMING_CHECK_NONE, display_failure, "TCAN ESCs require MOT_PWM_MIN=1000");
return false;
}
if (copter.motors->get_pwm_output_max() != 2000) {
check_failed(ARMING_CHECK_NONE, display_failure, "TCAN ESCs require MOT_PWM_MAX=2000");
return false;
}
}
#endif
return true;
}