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Rover: enable RC calibration checks

This commit is contained in:
Peter Barker 2019-07-24 10:13:31 +10:00 committed by Randy Mackay
parent 852f85ec10
commit bab31a2d61
3 changed files with 4 additions and 12 deletions
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12
APMrover2/AP_Arming.cpp
View File

@ -2,7 +2,7 @@
#include "Rover.h" #include "Rover.h"
// perform pre_arm_rc_checks checks // perform pre_arm_rc_checks checks
bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure) bool AP_Arming_Rover::rc_calibration_checks(const bool display_failure)
{ {
// set rc-checks to success if RC checks are disabled // set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) { if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
@ -27,16 +27,8 @@ bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
check_failed(ARMING_CHECK_RC, display_failure, "%s radio max too low", channel_name); check_failed(ARMING_CHECK_RC, display_failure, "%s radio max too low", channel_name);
return false; return false;
} }
if (channel->get_radio_trim() < channel->get_radio_min()) {
check_failed(ARMING_CHECK_RC, display_failure, "%s radio trim below min", channel_name);
return false;
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
check_failed(ARMING_CHECK_RC, display_failure, "%s radio trim above max", channel_name);
return false;
}
} }
return true; return AP_Arming::rc_calibration_checks(display_failure);
} }
// performs pre_arm gps related checks and returns true if passed // performs pre_arm gps related checks and returns true if passed

2
APMrover2/AP_Arming.h
View File

@ -18,7 +18,7 @@ public:
bool pre_arm_checks(bool report) override; bool pre_arm_checks(bool report) override;
bool arm_checks(AP_Arming::Method method) override; bool arm_checks(AP_Arming::Method method) override;
bool pre_arm_rc_checks(const bool display_failure); bool rc_calibration_checks(const bool display_failure) override;
bool gps_checks(bool display_failure) override; bool gps_checks(bool display_failure) override;
bool disarm() override; bool disarm() override;

2
APMrover2/motor_test.cpp
View File

@ -71,7 +71,7 @@ bool Rover::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint
} }
// check rc has been calibrated // check rc has been calibrated
if (check_rc && !arming.pre_arm_rc_checks(true)) { if (check_rc && !arming.rc_calibration_checks(true)) {
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Motor Test: RC not calibrated"); gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Motor Test: RC not calibrated");
return false; return false;
} }