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Plane: report quadplane setup errors in config_error loop

This commit is contained in:
Mark Whitehorn 2019-12-16 14:17:54 -07:00 committed by Peter Barker
parent 9acaa84b8f
commit c054218568
1 changed files with 15 additions and 26 deletions
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41
ArduPlane/quadplane.cpp
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@ -624,11 +624,12 @@ bool QuadPlane::setup(void)
}
frame_class.set_and_save(new_value);
}
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialise, class: %u, type: %u",
(unsigned)frame_class.get(), (unsigned)frame_type.get());
if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav) + sizeof(*ahrs_view) + sizeof(*loiter_nav)) {
gcs().send_text(MAV_SEVERITY_INFO, "Not enough memory for quadplane");
goto failed;
AP_BoardConfig::config_error("Not enough memory for quadplane");
}
/*
@ -661,10 +662,7 @@ bool QuadPlane::setup(void)
case AP_Motors::MOTOR_FRAME_TAILSITTER:
break;
default:
hal.console->printf("Unknown frame class %u - using QUAD\n", (unsigned)frame_class.get());
frame_class.set(AP_Motors::MOTOR_FRAME_QUAD);
setup_default_channels(4);
break;
AP_BoardConfig::config_error("Unknown Q_FRAME_CLASS %u", (unsigned)frame_class.get());
}
if (tailsitter.motor_mask == 0) {
@ -691,18 +689,15 @@ bool QuadPlane::setup(void)
// this is a copter tailsitter with motor layout specified by frame_class and frame_type
// tilting motors are not supported (tiltrotor control variables are ignored)
if (tilt.tilt_mask != 0) {
hal.console->printf("Warning tilting motors not supported, setting tilt_mask to zero\n");
tilt.tilt_mask.set(0);
gcs().send_text(MAV_SEVERITY_INFO, "Warning: Motor tilt not supported");
}
rotation = ROTATION_PITCH_90;
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
}
const static char *strUnableToAllocate = "Unable to allocate";
if (!motors) {
hal.console->printf("%s motors\n", strUnableToAllocate);
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "motors");
}
AP_Param::load_object_from_eeprom(motors, motors_var_info);
@ -710,36 +705,36 @@ bool QuadPlane::setup(void)
// create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view(rotation, ahrs_trim_pitch);
if (ahrs_view == nullptr) {
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "ahrs_view");
}
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, loop_delta_t);
if (!attitude_control) {
hal.console->printf("%s attitude_control\n", strUnableToAllocate);
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "attitude_control");
}
AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (!pos_control) {
hal.console->printf("%s pos_control\n", strUnableToAllocate);
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "pos_control");
}
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
if (!wp_nav) {
hal.console->printf("%s wp_nav\n", strUnableToAllocate);
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "wp_nav");
}
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
if (!loiter_nav) {
hal.console->printf("%s loiter_nav\n", strUnableToAllocate);
goto failed;
AP_BoardConfig::config_error("Unable to allocate %s", "loiter_nav");
}
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
motors->init((AP_Motors::motor_frame_class)frame_class.get(), (AP_Motors::motor_frame_type)frame_type.get());
if (!motors->initialised_ok()) {
AP_BoardConfig::config_error("unknown Q_FRAME_TYPE %u", (unsigned)frame_type.get());
}
motors->set_throttle_range(thr_min_pwm, thr_max_pwm);
motors->set_update_rate(rc_speed);
motors->set_interlock(true);
@ -780,12 +775,6 @@ bool QuadPlane::setup(void)
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised");
initialised = true;
return true;
failed:
initialised = false;
enable.set(0);
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane setup failed");
return false;
}
/*