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AP_Arming: Use AP_BattMonitor's arming checks for the battery

This commit is contained in:
Michael du Breuil 2018-09-12 15:28:13 -07:00 committed by Francisco Ferreira
parent 0137d6543f
commit a8741f62f9
2 changed files with 5 additions and 30 deletions
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34
libraries/AP_Arming/AP_Arming.cpp
View File

@ -63,21 +63,8 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Advanced
AP_GROUPINFO("ACCTHRESH", 3, AP_Arming, accel_error_threshold, AP_ARMING_ACCEL_ERROR_THRESHOLD),
// @Param: VOLT_MIN
// @DisplayName: Arming voltage minimum on the first battery
// @Description: The minimum voltage of the first battery required to arm, 0 disables the check
// @Units: V
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("VOLT_MIN", 4, AP_Arming, _min_voltage[0], 0),
// @Param: VOLT2_MIN
// @DisplayName: Arming voltage minimum on the second battery
// @Description: The minimum voltage of the second battery required to arm, 0 disables the check
// @Units: V
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("VOLT2_MIN", 5, AP_Arming, _min_voltage[1], 0),
// index 4 was VOLT_MIN, moved to AP_BattMonitor
// index 5 was VOLT2_MIN, moved to AP_BattMonitor
// @Param: RUDDER
// @DisplayName: Arming with Rudder enable/disable
@ -433,22 +420,11 @@ bool AP_Arming::battery_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BATTERY)) {
const AP_BattMonitor &_battery = AP::battery();
if (AP_Notify::flags.failsafe_battery) {
check_failed(ARMING_CHECK_BATTERY, report, "Battery failsafe on");
char buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
if (!AP::battery().arming_checks(sizeof(buffer), buffer)) {
check_failed(ARMING_CHECK_BATTERY, report, buffer);
return false;
}
for (uint8_t i = 0; i < _battery.num_instances(); i++) {
if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
check_failed(ARMING_CHECK_BATTERY, report, "Battery %d voltage %.1f below minimum %.1f",
i+1,
(double)_battery.voltage(i),
(double)_min_voltage[i]);
return false;
}
}
}
return true;
}

1
libraries/AP_Arming/AP_Arming.h
View File

@ -83,7 +83,6 @@ protected:
AP_Int8 require;
AP_Int16 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Float _min_voltage[AP_BATT_MONITOR_MAX_INSTANCES];
AP_Int8 _rudder_arming;
// internal members