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AP_Arming: add pre-arm check of disabled servo channels

This commit is contained in:
Randy Mackay 2022-04-20 14:04:27 +09:00
parent bafab0fddf
commit a3d595f68f
1 changed files with 17 additions and 0 deletions
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17
libraries/AP_Arming/AP_Arming.cpp
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@ -809,6 +809,23 @@ bool AP_Arming::servo_checks(bool report) const
check_failed(report, "SERVO%d_MAX is less than SERVO%d_TRIM", i + 1, i + 1);
check_passed = false;
}
// check functions using PWM are enabled
if (SRV_Channels::get_disabled_channel_mask() & 1U<<i) {
const SRV_Channel::Aux_servo_function_t ch_function = c->get_function();
// motors, e-stoppable functions, neopixels and ProfiLEDs may be digital outputs and thus can be disabled
const bool disabled_ok = SRV_Channel::is_motor(ch_function) ||
SRV_Channel::should_e_stop(ch_function) ||
(ch_function >= SRV_Channel::k_LED_neopixel1 && ch_function <= SRV_Channel::k_LED_neopixel4) ||
(ch_function >= SRV_Channel::k_ProfiLED_1 && ch_function <= SRV_Channel::k_ProfiLED_Clock);
// for all other functions raise a pre-arm failure
if (!disabled_ok) {
check_failed(report, "SERVO%u_FUNCTION=%u on disabled channel", i + 1, (unsigned)ch_function);
check_passed = false;
}
}
}
#if HAL_WITH_IO_MCU