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Copter: remove bogus ARMING_CHECK_NONE 'bitmask value'

This commit is contained in:
Peter Barker 2019-10-05 07:51:22 +10:00 committed by Andrew Tridgell
parent c26f98e817
commit d42c66afcc
1 changed files with 19 additions and 19 deletions
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38
ArduCopter/AP_Arming.cpp
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@ -35,7 +35,7 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
// at the same time. This cannot be allowed. // at the same time. This cannot be allowed.
if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) && if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){ rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){
check_failed(ARMING_CHECK_NONE, display_failure, "Interlock/E-Stop Conflict"); check_failed(display_failure, "Interlock/E-Stop Conflict");
return false; return false;
} }
@ -44,11 +44,11 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
// otherwise exit immediately. This check to be repeated, // otherwise exit immediately. This check to be repeated,
// as state can change at any time. // as state can change at any time.
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(ARMING_CHECK_NONE, display_failure, "Motor Interlock Enabled"); check_failed(display_failure, "Motor Interlock Enabled");
} }
// succeed if pre arm checks are disabled // succeed if pre arm checks are disabled
if (checks_to_perform == ARMING_CHECK_NONE) { if (checks_to_perform == 0) {
return true; return true;
} }
@ -245,7 +245,7 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
{ {
// check motors initialised correctly // check motors initialised correctly
if (!copter.motors->initialised_ok()) { if (!copter.motors->initialised_ok()) {
check_failed(ARMING_CHECK_NONE, display_failure, "check firmware or FRAME_CLASS"); check_failed(display_failure, "check firmware or FRAME_CLASS");
return false; return false;
} }
@ -260,11 +260,11 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
} }
if (tcan_active) { if (tcan_active) {
if (copter.motors->get_pwm_output_min() != 1000) { if (copter.motors->get_pwm_output_min() != 1000) {
check_failed(ARMING_CHECK_NONE, display_failure, "TCAN ESCs require MOT_PWM_MIN=1000"); check_failed(display_failure, "TCAN ESCs require MOT_PWM_MIN=1000");
return false; return false;
} }
if (copter.motors->get_pwm_output_max() != 2000) { if (copter.motors->get_pwm_output_max() != 2000) {
check_failed(ARMING_CHECK_NONE, display_failure, "TCAN ESCs require MOT_PWM_MAX=2000"); check_failed(display_failure, "TCAN ESCs require MOT_PWM_MAX=2000");
return false; return false;
} }
} }
@ -301,9 +301,9 @@ bool AP_Arming_Copter::oa_checks(bool display_failure)
} }
// display failure // display failure
if (strlen(failure_msg) == 0) { if (strlen(failure_msg) == 0) {
check_failed(ARMING_CHECK_NONE, display_failure, "%s", "Check Object Avoidance"); check_failed(display_failure, "%s", "Check Object Avoidance");
} else { } else {
check_failed(ARMING_CHECK_NONE, display_failure, "%s", failure_msg); check_failed(display_failure, "%s", failure_msg);
} }
return false; return false;
#else #else
@ -339,7 +339,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
if (reason == nullptr) { if (reason == nullptr) {
reason = "AHRS not healthy"; reason = "AHRS not healthy";
} }
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason); check_failed(display_failure, "%s", reason);
return false; return false;
} }
@ -370,7 +370,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
reason = "Need 3D Fix"; reason = "Need 3D Fix";
} }
} }
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason); check_failed(display_failure, "%s", reason);
return false; return false;
} }
@ -378,7 +378,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
nav_filter_status filt_status; nav_filter_status filt_status;
if (ahrs.get_filter_status(filt_status)) { if (ahrs.get_filter_status(filt_status)) {
if (filt_status.flags.gps_glitching) { if (filt_status.flags.gps_glitching) {
check_failed(ARMING_CHECK_NONE, display_failure, "GPS glitching"); check_failed(display_failure, "GPS glitching");
return false; return false;
} }
} }
@ -389,13 +389,13 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
Vector2f offset; Vector2f offset;
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset); ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) { if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF compass variance"); check_failed(display_failure, "EKF compass variance");
return false; return false;
} }
// check home and EKF origin are not too far // check home and EKF origin are not too far
if (copter.far_from_EKF_origin(ahrs.get_home())) { if (copter.far_from_EKF_origin(ahrs.get_home())) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance"); check_failed(display_failure, "EKF-home variance");
return false; return false;
} }
@ -499,7 +499,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
if (!ahrs.healthy()) { if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, true, "AHRS not healthy"); check_failed(true, "AHRS not healthy");
return false; return false;
} }
@ -509,7 +509,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
const Compass &_compass = AP::compass(); const Compass &_compass = AP::compass();
// check compass health // check compass health
if (!_compass.healthy()) { if (!_compass.healthy()) {
check_failed(ARMING_CHECK_NONE, true, "Compass not healthy"); check_failed(true, "Compass not healthy");
return false; return false;
} }
} }
@ -519,7 +519,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// always check if the current mode allows arming // always check if the current mode allows arming
if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) { if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
check_failed(ARMING_CHECK_NONE, true, "Mode not armable"); check_failed(true, "Mode not armable");
return false; return false;
} }
@ -531,7 +531,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// if we are using motor interlock switch and it's enabled, fail to arm // if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock // skip check in Throw mode which takes control of the motor interlock
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(ARMING_CHECK_NONE, true, "Motor Interlock Enabled"); check_failed(true, "Motor Interlock Enabled");
return false; return false;
} }
@ -546,7 +546,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
} }
// succeed if arming checks are disabled // succeed if arming checks are disabled
if (checks_to_perform == ARMING_CHECK_NONE) { if (checks_to_perform == 0) {
return true; return true;
} }
@ -600,7 +600,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// check if safety switch has been pushed // check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
check_failed(ARMING_CHECK_NONE, true, "Safety Switch"); check_failed(true, "Safety Switch");
return false; return false;
} }