Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RPM: implement arming_checks()

This commit is contained in:
Andrew Tridgell 2021-07-20 14:20:16 +10:00
parent 9b78fa7fb8
commit d827b35e57
2 changed files with 24 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_RPM/AP_RPM.cpp
View File

@ -223,6 +223,27 @@ bool AP_RPM::get_rpm(uint8_t instance, float &rpm_value) const
return true;
}
// check settings are valid
bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
{
for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
switch (_type[i]) {
case RPM_TYPE_PWM:
case RPM_TYPE_PIN:
if (_pin[i] == -1) {
hal.util->snprintf(buffer, buflen, "RPM[%u] no pin set", i + 1);
return false;
}
if (!hal.gpio->valid_pin(_pin[i])) {
hal.util->snprintf(buffer, buflen, "RPM[%u] pin %d invalid", i + 1, _pin[i]);
return false;
}
break;
}
}
return true;
}
// singleton instance
AP_RPM *AP_RPM::_singleton;

3
libraries/AP_RPM/AP_RPM.h
View File

@ -96,6 +96,9 @@ public:
static AP_RPM *get_singleton() { return _singleton; }
// check settings are valid
bool arming_checks(size_t buflen, char *buffer) const;
private:
static AP_RPM *_singleton;