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Copter: battery arming checks call parent AP_Arming

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This commit is contained in:
Randy Mackay 2017-07-26 19:36:57 +09:00
parent d8ba0b2914
commit af43666b6a
1 changed files with 19 additions and 1 deletions
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20
ArduCopter/AP_Arming.cpp
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@ -200,12 +200,30 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
// check battery voltage
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
if (copter.failsafe.battery || (!copter.ap.usb_connected && copter.battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (copter.failsafe.battery) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Battery failsafe");
}
return false;
}
// all following checks are skipped if USB is connected
if (copter.ap.usb_connected) {
return true;
}
// check if battery is exhausted
if (copter.battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
}
return false;
}
// call parent battery checks
if (!AP_Arming::battery_checks(display_failure)) {
return false;
}
}
return true;