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AP_Arming: added arming check for storage health

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This commit is contained in:
Andrew Tridgell 2018-06-30 09:23:08 +10:00
parent 63a9b903ba
commit bf1bca6820
2 changed files with 26 additions and 1 deletions
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24
libraries/AP_Arming/AP_Arming.cpp
View File

@ -538,6 +538,19 @@ bool AP_Arming::board_voltage_checks(bool report)
return true; return true;
} }
/*
check base system operations
*/
bool AP_Arming::system_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_SYSTEM)) {
if (!hal.storage->healthy()) {
check_failed(ARMING_CHECK_SYSTEM, report, "Param storage failed");
}
}
return true;
}
bool AP_Arming::pre_arm_checks(bool report) bool AP_Arming::pre_arm_checks(bool report)
{ {
#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@ -557,7 +570,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& logging_checks(report) & logging_checks(report)
& manual_transmitter_checks(report) & manual_transmitter_checks(report)
& servo_checks(report) & servo_checks(report)
& board_voltage_checks(report); & board_voltage_checks(report)
& system_checks(report);
} }
bool AP_Arming::arm_checks(ArmingMethod method) bool AP_Arming::arm_checks(ArmingMethod method)
@ -570,6 +584,14 @@ bool AP_Arming::arm_checks(ArmingMethod method)
} }
} }
// check system health on arm as well as prearm
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_SYSTEM)) {
if (!system_checks(true)) {
return false;
}
}
// note that this will prepare DataFlash to start logging // note that this will prepare DataFlash to start logging
// so should be the last check to be done before arming // so should be the last check to be done before arming
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||

3
libraries/AP_Arming/AP_Arming.h
View File

@ -31,6 +31,7 @@ public:
ARMING_CHECK_LOGGING = 0x0400, ARMING_CHECK_LOGGING = 0x0400,
ARMING_CHECK_SWITCH = 0x0800, ARMING_CHECK_SWITCH = 0x0800,
ARMING_CHECK_GPS_CONFIG = 0x1000, ARMING_CHECK_GPS_CONFIG = 0x1000,
ARMING_CHECK_SYSTEM = 0x2000,
}; };
enum ArmingMethod { enum ArmingMethod {
@ -105,6 +106,8 @@ protected:
bool manual_transmitter_checks(bool report); bool manual_transmitter_checks(bool report);
virtual bool system_checks(bool report);
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 check_min_max = true) const; bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4], const bool check_min_max = true) const;