Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: make proximity sensor checks common

Browse Source
This commit is contained in:
Peter Barker 2019-05-30 12:28:33 +10:00 committed by Randy Mackay
parent 99c56c1770
commit bb14ec1a2c
2 changed files with 28 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_Arming/AP_Arming.cpp
View File

@ -21,6 +21,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Mission/AP_Mission.h> #include <AP_Mission/AP_Mission.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_Rally/AP_Rally.h> #include <AP_Rally/AP_Rally.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
#include <AC_Fence/AC_Fence.h> #include <AC_Fence/AC_Fence.h>
@ -669,6 +670,28 @@ bool AP_Arming::system_checks(bool report)
return true; return true;
} }
// check nothing is too close to vehicle
bool AP_Arming::proximity_checks(bool report) const
{
const AP_Proximity *proximity = AP::proximity();
// return true immediately if no sensor present
if (proximity == nullptr) {
return true;
}
if (proximity->get_status() == AP_Proximity::Proximity_NotConnected) {
return true;
}
// return false if proximity sensor unhealthy
if (proximity->get_status() < AP_Proximity::Proximity_Good) {
check_failed(ARMING_CHECK_NONE, report, "check proximity sensor");
return false;
}
return true;
}
bool AP_Arming::can_checks(bool report) bool AP_Arming::can_checks(bool report)
{ {
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
@ -752,7 +775,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& servo_checks(report) & servo_checks(report)
& board_voltage_checks(report) & board_voltage_checks(report)
& system_checks(report) & system_checks(report)
& can_checks(report); & can_checks(report)
& proximity_checks(report);
} }
bool AP_Arming::arm_checks(AP_Arming::Method method) bool AP_Arming::arm_checks(AP_Arming::Method method)

4
libraries/AP_Arming/AP_Arming.h
View File

@ -122,7 +122,9 @@ protected:
virtual bool system_checks(bool report); virtual bool system_checks(bool report);
bool can_checks(bool report); bool can_checks(bool report);
virtual bool proximity_checks(bool report) const;
bool servo_checks(bool report) const; bool servo_checks(bool report) const;
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;