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Copter: make rc checks verbose on failure

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This commit is contained in:
Peter Barker 2017-01-20 13:28:36 +11:00 committed by Randy Mackay
parent 078866046a
commit ab13b3beaf
6 changed files with 21 additions and 7 deletions
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18
ArduCopter/AP_Arming.cpp
View File

@ -89,7 +89,7 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
bool AP_Arming_Copter::rc_calibration_checks(bool display_failure) bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
{ {
// pre-arm rc checks a prerequisite // pre-arm rc checks a prerequisite
pre_arm_rc_checks(); pre_arm_rc_checks(display_failure);
if (!copter.ap.pre_arm_rc_check) { if (!copter.ap.pre_arm_rc_check) {
if (display_failure) { if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated"); gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
@ -330,7 +330,7 @@ bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
} }
// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag // perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
void AP_Arming_Copter::pre_arm_rc_checks() void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
{ {
// exit immediately if we've already successfully performed the pre-arm rc check // exit immediately if we've already successfully performed the pre-arm rc check
if (copter.ap.pre_arm_rc_check) { if (copter.ap.pre_arm_rc_check) {
@ -354,13 +354,21 @@ void AP_Arming_Copter::pre_arm_rc_checks()
copter.channel_throttle, copter.channel_throttle,
copter.channel_yaw copter.channel_yaw
}; };
const char *channel_names[] = { "Roll", "Pitch", "Throttle", "Yaw" };
for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) { for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
const RC_Channel *channel = channels[i]; const RC_Channel *channel = channels[i];
const char *channel_name = channel_names[i];
if (channel->get_radio_min() > 1300) { if (channel->get_radio_min() > 1300) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);
}
return; return;
} }
if (channel->get_radio_max() < 1700) { if (channel->get_radio_max() < 1700) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name);
}
return; return;
} }
if (i == 2) { if (i == 2) {
@ -368,9 +376,15 @@ void AP_Arming_Copter::pre_arm_rc_checks()
continue; continue;
} }
if (channel->get_radio_trim() < channel->get_radio_min()) { if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
}
return; return;
} }
if (channel->get_radio_trim() > channel->get_radio_max()) { if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
}
return; return;
} }
} }

2
ArduCopter/AP_Arming.h
View File

@ -17,7 +17,7 @@ public:
void update(void); void update(void);
bool all_checks_passing(bool arming_from_gcs); bool all_checks_passing(bool arming_from_gcs);
void pre_arm_rc_checks(); void pre_arm_rc_checks(bool display_failure);
protected: protected:

2
ArduCopter/compassmot.cpp
View File

@ -56,7 +56,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
} }
// check if radio is calibrated // check if radio is calibrated
arming.pre_arm_rc_checks(); arming.pre_arm_rc_checks(true);
if (!ap.pre_arm_rc_check) { if (!ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
ap.compass_mot = false; ap.compass_mot = false;

2
ArduCopter/esc_calibration.cpp
View File

@ -20,7 +20,7 @@ void Copter::esc_calibration_startup_check()
{ {
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
// exit immediately if pre-arm rc checks fail // exit immediately if pre-arm rc checks fail
arming.pre_arm_rc_checks(); arming.pre_arm_rc_checks(true);
if (!ap.pre_arm_rc_check) { if (!ap.pre_arm_rc_check) {
// clear esc flag for next time // clear esc flag for next time
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) { if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {

2
ArduCopter/motor_test.cpp
View File

@ -73,7 +73,7 @@ void Copter::motor_test_output()
bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc) bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
{ {
// check rc has been calibrated // check rc has been calibrated
arming.pre_arm_rc_checks(); arming.pre_arm_rc_checks(true);
if(check_rc && !ap.pre_arm_rc_check) { if(check_rc && !ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated"); gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
return false; return false;

2
ArduCopter/radio.cpp
View File

@ -68,7 +68,7 @@ void Copter::init_rc_out()
esc_calibration_startup_check(); esc_calibration_startup_check();
// enable output to motors // enable output to motors
arming.pre_arm_rc_checks(); arming.pre_arm_rc_checks(true);
if (ap.pre_arm_rc_check) { if (ap.pre_arm_rc_check) {
enable_motor_output(); enable_motor_output();
} }