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AP_Arming: add camera arming checks

This commit is contained in:
Andy Piper 2019-12-06 17:52:12 +00:00 committed by Andrew Tridgell
parent eca398e7a2
commit c16c60a761
2 changed files with 30 additions and 5 deletions
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32
libraries/AP_Arming/AP_Arming.cpp
View File

@ -33,6 +33,7 @@
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_Scripting/AP_Scripting.h>
#include <AP_Camera/AP_RunCam.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
@ -110,10 +111,10 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Param: CHECK
// @DisplayName: Arm Checks to Perform (bitmask)
// @Description: Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks.
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Channels,128:Board voltage,256:Battery Level,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration,8192:System,16384:Mission,32768:RangeFinder
// @Values{Plane}: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Channels,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration,8192:System,16384:Mission,32768:RangeFinder
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder
// @Bitmask{Plane}: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Channels,128:Board voltage,256:Battery Level,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration,8192:System,16384:Mission,32768:RangeFinder,65536:Camera
// @Values{Plane}: 0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Channels,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration,8192:System,16384:Mission,32768:RangeFinder,65536:Camera
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera
// @Bitmask{Plane}: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera
// @User: Standard
AP_GROUPINFO("CHECK", 8, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
@ -829,6 +830,26 @@ bool AP_Arming::fence_checks(bool display_failure)
return false;
}
bool AP_Arming::camera_checks(bool display_failure)
{
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_CAMERA)) {
#if HAL_RUNCAM_ENABLED
AP_RunCam *runcam = AP::runcam();
if (runcam == nullptr) {
return true;
}
// check camera is ready
char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (!runcam->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_CAMERA, display_failure, "%s", fail_msg);
return false;
}
#endif
}
return true;
}
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@ -853,7 +874,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& board_voltage_checks(report)
& system_checks(report)
& can_checks(report)
& proximity_checks(report);
& proximity_checks(report)
& camera_checks(report);
}
bool AP_Arming::arm_checks(AP_Arming::Method method)

3
libraries/AP_Arming/AP_Arming.h
View File

@ -33,6 +33,7 @@ public:
ARMING_CHECK_SYSTEM = (1U << 13),
ARMING_CHECK_MISSION = (1U << 14),
ARMING_CHECK_RANGEFINDER = (1U << 15),
ARMING_CHECK_CAMERA = (1U << 16),
};
enum class Method {
@ -124,6 +125,8 @@ protected:
bool fence_checks(bool report);
bool camera_checks(bool display_failure);
virtual bool system_checks(bool report);
bool can_checks(bool report);