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AP_Arming: move Copter RC checking code into library

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Peter Barker 2017-08-10 09:11:22 +10:00 committed by Randy Mackay
parent 14f6d3e03e
commit b2459c67d5
2 changed files with 57 additions and 0 deletions
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54
libraries/AP_Arming/AP_Arming.cpp
View File

@ -565,3 +565,57 @@ AP_Arming::ArmingRequired AP_Arming::arming_required()
{ {
return (AP_Arming::ArmingRequired)require.get(); return (AP_Arming::ArmingRequired)require.get();
} }
// Copter and sub share the same RC input limits
bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4]) const
{
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
return true;
}
bool ret = true;
const char *channel_names[] = { "Roll", "Pitch", "Throttle", "Yaw" };
for (uint8_t i=0; i<ARRAY_SIZE(channel_names);i++) {
const RC_Channel *channel = channels[i];
const char *channel_name = channel_names[i];
// check if radio has been calibrated
if (!channel->min_max_configured()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC %s not configured", channel_name);
}
ret = false;
}
if (channel->get_radio_min() > 1300) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);
}
ret = false;
}
if (channel->get_radio_max() < 1700) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name);
}
ret = false;
}
if (i == 2) {
// skip checking trim for throttle as older code did not check it
continue;
}
if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
}
ret = false;
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
}
ret = false;
}
}
return ret;
}

3
libraries/AP_Arming/AP_Arming.h
View File

@ -5,6 +5,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel.h>
class AP_Arming { class AP_Arming {
public: public:
@ -104,4 +105,6 @@ protected:
virtual enum HomeState home_status() const = 0; virtual enum HomeState home_status() const = 0;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const;
}; };