Copter: continuously reevaluate rc calibration checks

Stop "latching" calibration checks - if an RC radio's calibration
changes after it passes once, these patches allow the rc calibraiton
checks to then fail.

ArduCopter/AP_Arming.cpp

@@ -70,7 +70,6 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
     // succeed if pre arm checks are disabled
     if (checks_to_perform == ARMING_CHECK_NONE) {
         set_pre_arm_check(true);
-        set_pre_arm_rc_check(true);
         return true;
     }
 
@@ -87,13 +86,6 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
         & pilot_throttle_checks(display_failure);
 }
 
-bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
-{
-    // pre-arm rc checks a prerequisite
-    pre_arm_rc_checks(display_failure);
-    return copter.ap.pre_arm_rc_check;
-}
-
 bool AP_Arming_Copter::barometer_checks(bool display_failure)
 {
     if (!AP_Arming::barometer_checks(display_failure)) {
@@ -322,14 +314,8 @@ bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
     return true;
 }
 
-// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
+bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
-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
-    if (copter.ap.pre_arm_rc_check) {
-        return;
-    }
-
     const RC_Channel *channels[] = {
         copter.channel_roll,
         copter.channel_pitch,
@@ -338,6 +324,7 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
     };
 
     copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels);
+    return copter.ap.pre_arm_rc_check;
 }
 
 // performs pre_arm gps related checks and returns true if passed
@@ -766,10 +753,3 @@ void AP_Arming_Copter::set_pre_arm_check(bool b)
         AP_Notify::flags.pre_arm_check = b;
     }
 }
-
-void AP_Arming_Copter::set_pre_arm_rc_check(bool b)
-{
-    if(copter.ap.pre_arm_rc_check != b) {
-        copter.ap.pre_arm_rc_check = b;
-    }
-}

ArduCopter/AP_Arming.h

@@ -17,7 +17,8 @@ public:
 
     void update(void);
     bool all_checks_passing(bool arming_from_gcs);
-    void pre_arm_rc_checks(bool display_failure);
+
+    bool rc_calibration_checks(bool display_failure);
 
 protected:
 
@@ -39,10 +40,8 @@ protected:
     bool motor_checks(bool display_failure);
     bool pilot_throttle_checks(bool display_failure);
     bool barometer_checks(bool display_failure);
-    bool rc_calibration_checks(bool display_failure);
 
     void set_pre_arm_check(bool b);
-    void set_pre_arm_rc_check(bool b);
 
     enum HomeState home_status() const override;
 

ArduCopter/compassmot.cpp

@@ -58,8 +58,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     }
 
     // check if radio is calibrated
-    arming.pre_arm_rc_checks(true);
+    if (!arming.rc_calibration_checks(true)) {
-    if (!ap.pre_arm_rc_check) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;

ArduCopter/esc_calibration.cpp

@@ -27,8 +27,7 @@ void Copter::esc_calibration_startup_check()
     }
 
     // exit immediately if pre-arm rc checks fail
-    arming.pre_arm_rc_checks(true);
+    if (!arming.rc_calibration_checks(true)) {
-    if (!ap.pre_arm_rc_check) {
         // clear esc flag for next time
         if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
             g.esc_calibrate.set_and_save(ESCCAL_NONE);

ArduCopter/motor_test.cpp

@@ -81,8 +81,7 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
     }
 
     // check rc has been calibrated
-    arming.pre_arm_rc_checks(true);
+    if (check_rc && !arming.rc_calibration_checks(true)) {
-    if(check_rc && !ap.pre_arm_rc_check) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
         return false;
     }

ArduCopter/system.cpp

@@ -250,8 +250,7 @@ void Copter::init_ardupilot()
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
     // enable output to motors
-    arming.pre_arm_rc_checks(true);
+    if (arming.rc_calibration_checks(true)) {
-    if (ap.pre_arm_rc_check) {
         enable_motor_output();
     }