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Copter: all pre-arm checks to be disabled

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set ARMING_CHECK parameter to zero to disable
This commit is contained in:
Randy Mackay 2013-05-20 14:48:04 +09:00
parent 43c377ca67
commit bd44c2f73d
3 changed files with 16 additions and 1 deletions
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4
ArduCopter/Parameters.h
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@ -83,7 +83,8 @@ public:
k_param_pilot_velocity_z_max, k_param_pilot_velocity_z_max,
k_param_circle_rate, k_param_circle_rate,
k_param_sonar_gain, k_param_sonar_gain,
k_param_ch8_option, // 31 k_param_ch8_option,
k_param_arming_check_enabled, // 32
// 65: AP_Limits Library // 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove k_param_limits = 65, // deprecated - remove
@ -339,6 +340,7 @@ public:
AP_Int8 frame_orientation; AP_Int8 frame_orientation;
AP_Int8 ch7_option; AP_Int8 ch7_option;
AP_Int8 ch8_option; AP_Int8 ch8_option;
AP_Int8 arming_check_enabled;
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// Heli // Heli

7
ArduCopter/Parameters.pde
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@ -419,6 +419,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION), GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),
// @Param: ARMING_CHECK
// @DisplayName: Arming check
// @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
GSCALAR(arming_check_enabled, "ARMING_CHECK", 1),
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
GGROUP(heli_servo_1, "HS1_", RC_Channel), GGROUP(heli_servo_1, "HS1_", RC_Channel),
GGROUP(heli_servo_2, "HS2_", RC_Channel), GGROUP(heli_servo_2, "HS2_", RC_Channel),

6
ArduCopter/motors.pde
View File

@ -191,6 +191,12 @@ static void pre_arm_checks(bool display_failure)
return; return;
} }
// succeed if pre arm checks are disabled
if(!g.arming_check_enabled) {
ap.pre_arm_check = true;
return;
}
// pre-arm rc checks a prerequisite // pre-arm rc checks a prerequisite
pre_arm_rc_checks(); pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) { if(!ap.pre_arm_rc_check) {