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AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks

This commit is contained in:
Jacob Walser 2017-08-14 13:53:20 -04:00 committed by jaxxzer
parent 5a9af5bc28
commit b8e7d23cc4
2 changed files with 4 additions and 3 deletions
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5
libraries/AP_Arming/AP_Arming.cpp
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@ -567,7 +567,8 @@ AP_Arming::ArmingRequired AP_Arming::arming_required()
}
// 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
// Copter checks that min and max have been configured by default, Sub does not
bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4], const bool check_min_max) const
{
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
@ -582,7 +583,7 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
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 (check_min_max && !channel->min_max_configured()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC %s not configured", channel_name);
}

2
libraries/AP_Arming/AP_Arming.h
View File

@ -105,6 +105,6 @@ protected:
virtual enum HomeState home_status() const = 0;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4], const bool check_min_max = true) const;
};