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AP_Arming: removed the need for the GCS print function

This commit is contained in:
Andrew Tridgell 2015-09-08 13:54:25 +10:00
parent f3e8819d1e
commit c48bef1552
2 changed files with 26 additions and 30 deletions
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50
libraries/AP_Arming/AP_Arming.cpp
View File

@ -16,6 +16,7 @@
#include "AP_Arming.h"
#include <AP_Notify/AP_Notify.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -40,7 +41,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] PROGMEM = {
//The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set, gcs_send_t_p gcs_print_func)
const enum HomeState &home_set)
: armed(false)
, logging_available(false)
, skip_gyro_cal(false)
@ -49,7 +50,6 @@ AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &comp
, barometer(baro)
, _compass(compass)
, home_is_set(home_set)
, gcs_send_text_P(gcs_print_func)
{
AP_Param::setup_object_defaults(this, var_info);
memset(last_accel_pass_ms, 0, sizeof(last_accel_pass_ms));
@ -76,7 +76,7 @@ bool AP_Arming::barometer_checks(bool report)
(checks_to_perform & ARMING_CHECK_BARO)) {
if (! barometer.healthy()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Barometer not healthy!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Barometer not healthy!"));
}
return false;
}
@ -96,7 +96,7 @@ bool AP_Arming::airspeed_checks(bool report)
}
if (airspeed->enabled() && airspeed->use() && !airspeed->healthy()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: airspeed not healthy"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: airspeed not healthy"));
}
return false;
}
@ -111,7 +111,7 @@ bool AP_Arming::logging_checks(bool report)
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!logging_available) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: logging not available"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: logging not available"));
}
return false;
}
@ -126,31 +126,31 @@ bool AP_Arming::ins_checks(bool report)
const AP_InertialSensor &ins = ahrs.get_ins();
if (! ins.get_gyro_health_all()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: gyros not healthy!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: gyros not healthy!"));
}
return false;
}
if (!skip_gyro_cal && ! ins.gyro_calibrated_ok_all()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: gyros not calibrated!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: gyros not calibrated!"));
}
return false;
}
if (! ins.get_accel_health_all()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: accels not healthy!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: accels not healthy!"));
}
return false;
}
if (!ahrs.healthy()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: AHRS not healthy!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: AHRS not healthy!"));
}
return false;
}
if (!ins.accel_calibrated_ok_all()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: 3D accel cal needed"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: 3D accel cal needed"));
}
return false;
}
@ -178,7 +178,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_accel_pass_ms[i] > 10000) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Accelerometers"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: inconsistent Accelerometers"));
}
return false;
}
@ -199,7 +199,7 @@ bool AP_Arming::ins_checks(bool report)
}
if (hal.scheduler->millis() - last_gyro_pass_ms[i] > 10000) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent gyros"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: inconsistent gyros"));
}
return false;
}
@ -223,14 +223,14 @@ bool AP_Arming::compass_checks(bool report)
if (!_compass.healthy()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not healthy!"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass not healthy!"));
}
return false;
}
// check compass learning is on or offsets have been set
if (!_compass.learn_offsets_enabled() && !_compass.configured()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not calibrated"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass not calibrated"));
}
return false;
}
@ -238,7 +238,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass is calibrating
if(_compass.is_calibrating()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Compass calibration running"));
GCS_MAVLINK::send_statustext_all(PSTR("Arm: Compass calibration running"));
}
return false;
}
@ -246,7 +246,7 @@ bool AP_Arming::compass_checks(bool report)
//check if compass has calibrated and requires reboot
if(_compass.compass_cal_requires_reboot()) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass calibrated requires reboot"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass calibrated requires reboot"));
}
return false;
}
@ -255,7 +255,7 @@ bool AP_Arming::compass_checks(bool report)
Vector3f offsets = _compass.get_offsets();
if (offsets.length() > 600) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Compass offsets too high"));
}
return false;
}
@ -270,7 +270,7 @@ bool AP_Arming::compass_checks(bool report)
float mag_field = _compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Check mag field"));
}
return false;
}
@ -290,7 +290,7 @@ bool AP_Arming::gps_checks(bool report)
if (home_is_set == HOME_UNSET ||
gps.status() < AP_GPS::GPS_OK_FIX_3D) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Bad GPS Position"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Bad GPS Position"));
}
return false;
}
@ -306,7 +306,7 @@ bool AP_Arming::battery_checks(bool report)
if (AP_Notify::flags.failsafe_battery) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Battery failsafe on."));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Battery failsafe on."));
}
return false;
}
@ -320,7 +320,7 @@ bool AP_Arming::hardware_safety_check(bool report)
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Hardware Safety Switch"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Hardware Safety Switch"));
}
return false;
}
@ -335,7 +335,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
if (AP_Notify::flags.failsafe_radio) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Radio failsafe on"));
GCS_MAVLINK::send_statustext_all(PSTR("PreArm: Radio failsafe on"));
}
return false;
}
@ -380,7 +380,7 @@ bool AP_Arming::arm(uint8_t method)
if (checks_to_perform == ARMING_CHECK_NONE) {
armed = true;
arming_method = NONE;
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(PSTR("Throttle armed!"));
return true;
}
@ -388,7 +388,7 @@ bool AP_Arming::arm(uint8_t method)
armed = true;
arming_method = method;
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Throttle armed!"));
GCS_MAVLINK::send_statustext_all(PSTR("Throttle armed!"));
//TODO: Log motor arming to the dataflash
//Can't do this from this class until there is a unified logging library
@ -409,7 +409,7 @@ bool AP_Arming::disarm()
}
armed = false;
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Throttle disarmed!"));
GCS_MAVLINK::send_statustext_all(PSTR("Throttle disarmed!"));
//TODO: Log motor disarming to the dataflash
//Can't do this from this class until there is a unified logging library.

6
libraries/AP_Arming/AP_Arming.h
View File

@ -43,11 +43,8 @@ public:
ARMING_RUDDER_ARMDISARM = 2
};
// for the hacky function pointer to gcs_send_text_p
FUNCTOR_TYPEDEF(gcs_send_t_p, void, MAV_SEVERITY, const prog_char_t *);
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set, gcs_send_t_p);
const enum HomeState &home_set);
ArmingRequired arming_required();
bool arm(uint8_t method);
@ -86,7 +83,6 @@ protected:
const AP_Baro &barometer;
Compass &_compass;
const enum HomeState &home_is_set;
gcs_send_t_p gcs_send_text_P;
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];