AP_Motors: Heli: move heli parameter check to arming check

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -440,69 +440,6 @@ void AP_MotorsHeli::output_logic()
     }
 }
 
-// parameter_check - check if helicopter specific parameters are sensible
-bool AP_MotorsHeli::parameter_check(bool display_msg) const
-{
-    // returns false if RSC Mode is not set to a valid control mode
-    if (_main_rotor._rsc_mode.get() <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _main_rotor._rsc_mode.get() > (int8_t)ROTOR_CONTROL_MODE_AUTOTHROTTLE) {
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_MODE invalid");
-        }
-        return false;
-    }
-
-    // returns false if rsc_setpoint is out of range
-    if ( _main_rotor._rsc_setpoint.get() > 100 || _main_rotor._rsc_setpoint.get() < 10){
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_SETPOINT out of range");
-        }
-        return false;
-    }
-
-    // returns false if idle output is out of range
-    if ( _main_rotor._idle_output.get() > 100 || _main_rotor._idle_output.get() < 0){
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_IDLE out of range");
-        }
-        return false;
-    }
-
-    // returns false if _rsc_critical is not between 0 and 100
-    if (_main_rotor._critical_speed.get() > 100 || _main_rotor._critical_speed.get() < 0) {
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RSC_CRITICAL out of range");
-        }
-        return false;
-    }
-
-    // returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
-    if (_main_rotor._runup_time.get() <= _main_rotor._ramp_time.get()){
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_RUNUP_TIME too small");
-        }
-        return false;
-    }
-
-    // returns false if _collective_min_deg is not default value which indicates users set parameter
-    if (is_equal((float)_collective_min_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MIN_DEG)) {
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_ANG_MIN to measured min blade pitch in deg");
-        }
-        return false;
-    }
-
-    // returns false if _collective_max_deg is not default value which indicates users set parameter
-    if (is_equal((float)_collective_max_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MAX_DEG)) {
-        if (display_msg) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_ANG_MAX to measured max blade pitch in deg");
-        }
-        return false;
-    }
-
-    // all other cases parameters are OK
-    return true;
-}
-
 // update the throttle input filter
 void AP_MotorsHeli::update_throttle_filter()
 {
@@ -576,6 +513,7 @@ void AP_MotorsHeli::update_turbine_start()
     }
 }
 
+// Run arming checks
 bool AP_MotorsHeli::arming_checks(size_t buflen, char *buffer) const
 {
     // run base class checks
@@ -588,6 +526,48 @@ bool AP_MotorsHeli::arming_checks(size_t buflen, char *buffer) const
         return false;
     }
 
+    // returns false if RSC Mode is not set to a valid control mode
+    if (_main_rotor._rsc_mode.get() <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _main_rotor._rsc_mode.get() > (int8_t)ROTOR_CONTROL_MODE_AUTOTHROTTLE) {
+        hal.util->snprintf(buffer, buflen, "H_RSC_MODE invalid");
+        return false;
+    }
+
+    // returns false if rsc_setpoint is out of range
+    if ( _main_rotor._rsc_setpoint.get() > 100 || _main_rotor._rsc_setpoint.get() < 10){
+        hal.util->snprintf(buffer, buflen, "H_RSC_SETPOINT out of range");
+        return false;
+    }
+
+    // returns false if idle output is out of range
+    if ( _main_rotor._idle_output.get() > 100 || _main_rotor._idle_output.get() < 0){
+        hal.util->snprintf(buffer, buflen, "H_RSC_IDLE out of range");
+        return false;
+    }
+
+    // returns false if _rsc_critical is not between 0 and 100
+    if (_main_rotor._critical_speed.get() > 100 || _main_rotor._critical_speed.get() < 0) {
+        hal.util->snprintf(buffer, buflen, "H_RSC_CRITICAL out of range");
+        return false;
+    }
+
+    // returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
+    if (_main_rotor._runup_time.get() <= _main_rotor._ramp_time.get()){
+        hal.util->snprintf(buffer, buflen, "H_RUNUP_TIME too small");
+        return false;
+    }
+
+    // returns false if _collective_min_deg is not default value which indicates users set parameter
+    if (is_equal((float)_collective_min_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MIN_DEG)) {
+        hal.util->snprintf(buffer, buflen, "Set H_COL_ANG_MIN to measured min blade pitch in deg");
+        return false;
+    }
+
+    // returns false if _collective_max_deg is not default value which indicates users set parameter
+    if (is_equal((float)_collective_max_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MAX_DEG)) {
+        hal.util->snprintf(buffer, buflen, "Set H_COL_ANG_MAX to measured max blade pitch in deg");
+        return false;
+    }
+
     return true;
 }
 

libraries/AP_Motors/AP_MotorsHeli.h

@@ -66,9 +66,6 @@ public:
     // heli specific methods
     //
 
-    // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
-    virtual bool parameter_check(bool display_msg) const;
-
     //set turbine start flag on to initiaize starting sequence
     void set_turb_start(bool turb_start) { _heliflags.start_engine = turb_start; }
 

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -608,25 +608,25 @@ void AP_MotorsHeli_Dual::servo_test()
     _pitch_in = constrain_float(_pitch_test, -1.0f, 1.0f);
 }
 
-// parameter_check - check if helicopter specific parameters are sensible
+// Run arming checks
-bool AP_MotorsHeli_Dual::parameter_check(bool display_msg) const
+bool AP_MotorsHeli_Dual::arming_checks(size_t buflen, char *buffer) const
 {
+    // run base class checks
+    if (!AP_MotorsHeli::arming_checks(buflen, buffer)) {
+        return false;
+    }
+
     // returns false if Phase Angle is outside of range for H3 swashplate 1
     if (_swashplate1.get_swash_type() == SWASHPLATE_TYPE_H3 && (_swashplate1.get_phase_angle() > 30 || _swashplate1.get_phase_angle() < -30)){
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_SW1_H3_PHANG out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_SW1_H3_PHANG out of range");
-        }
         return false;
     }
 
     // returns false if Phase Angle is outside of range for H3 swashplate 2
     if (_swashplate2.get_swash_type() == SWASHPLATE_TYPE_H3 && (_swashplate2.get_phase_angle() > 30 || _swashplate2.get_phase_angle() < -30)){
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_SW2_H3_PHANG out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_SW2_H3_PHANG out of range");
-        }
         return false;
     }
 
-    // check parent class parameters
+    return true;
-    return AP_MotorsHeli::parameter_check(display_msg);
 }

libraries/AP_Motors/AP_MotorsHeli_Dual.h

@@ -64,8 +64,8 @@ public:
     // servo_test - move servos through full range of movement
     void servo_test() override;
 
-    // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
+    // Run arming checks
-    bool parameter_check(bool display_msg) const override;
+    bool arming_checks(size_t buflen, char *buffer) const override;
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -602,41 +602,37 @@ void AP_MotorsHeli_Single::servo_test()
     _yaw_in = constrain_float(_yaw_test, -1.0f, 1.0f);
 }
 
-// parameter_check - check if helicopter specific parameters are sensible
+// Run arming checks
-bool AP_MotorsHeli_Single::parameter_check(bool display_msg) const
+bool AP_MotorsHeli_Single::arming_checks(size_t buflen, char *buffer) const
 {
+    // run base class checks
+    if (!AP_MotorsHeli::arming_checks(buflen, buffer)) {
+        return false;
+    }
+
     // returns false if direct drive tailspeed is outside of range
-    if ((_direct_drive_tailspeed < 0) || (_direct_drive_tailspeed > 100)){
+    if ((_direct_drive_tailspeed < 0) || (_direct_drive_tailspeed > 100)) {
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_TAIL_SPEED out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_TAIL_SPEED out of range");
-        }
         return false;
     }
 
     // returns false if Phase Angle is outside of range for H3 swashplate
     if (_swashplate.get_swash_type() == SWASHPLATE_TYPE_H3 && (_swashplate.get_phase_angle() > 30 || _swashplate.get_phase_angle() < -30)){
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_SW_H3_PHANG out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_H3_PHANG out of range");
-        }
         return false;
     }
 
     // returns false if Acro External Gyro Gain is outside of range
-    if ((_ext_gyro_gain_acro < 0) || (_ext_gyro_gain_acro > 1000)){
+    if ((_ext_gyro_gain_acro < 0) || (_ext_gyro_gain_acro > 1000)) {
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_GYR_GAIN_ACRO out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN_ACRO out of range");
-        }
         return false;
     }
 
     // returns false if Standard External Gyro Gain is outside of range
-    if ((_ext_gyro_gain_std < 0) || (_ext_gyro_gain_std > 1000)){
+    if ((_ext_gyro_gain_std < 0) || (_ext_gyro_gain_std > 1000)) {
-        if (display_msg) {
+        hal.util->snprintf(buffer, buflen, "H_GYR_GAIN out of range");
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: H_GYR_GAIN out of range");
-        }
         return false;
     }
 
-    // check parent class parameters
+    return true;
-    return AP_MotorsHeli::parameter_check(display_msg);
 }

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -77,8 +77,8 @@ public:
 
     void set_acro_tail(bool set) override { _acro_tail = set; }
 
-    // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
+    // Run arming checks
-    bool parameter_check(bool display_msg) const override;
+    bool arming_checks(size_t buflen, char *buffer) const override;
 
     // Thrust Linearization handling
     Thrust_Linearization thr_lin {*this};