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Copter: fail to arm if gyro cal fails

This commit is contained in:
Randy Mackay 2014-10-29 15:19:10 +09:00
parent a7caa91cef
commit dc3509ef55
2 changed files with 22 additions and 4 deletions
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6
ArduCopter/GCS_Mavlink.pde
View File

@ -1159,8 +1159,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// run pre_arm_checks and arm_checks and display failures
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true)) {
init_arm_motors();
if (init_arm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
AP_Notify::flags.arming_failed = true; // init_arm_motors function will reset flag back to false
result = MAV_RESULT_UNSUPPORTED;
}
}else{
AP_Notify::flags.arming_failed = true; // init_arm_motors function will reset flag back to false
result = MAV_RESULT_UNSUPPORTED;

20
ArduCopter/motors.pde
View File

@ -59,7 +59,11 @@ static void arm_motors_check()
// run pre-arm-checks and display failures
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true)) {
init_arm_motors();
if (!init_arm_motors()) {
// reset arming counter if arming fail
arming_counter = 0;
AP_Notify::flags.arming_failed = true;
}
}else{
// reset arming counter if pre-arm checks fail
arming_counter = 0;
@ -120,7 +124,8 @@ static void auto_disarm_check()
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
static void init_arm_motors()
// returns false in the unlikely case that arming fails (because of a gyro calibration failure)
static bool init_arm_motors()
{
// arming marker
// Flag used to track if we have armed the motors the first time.
@ -167,8 +172,14 @@ static void init_arm_motors()
}
if(did_ground_start == false) {
did_ground_start = true;
startup_ground(true);
// final check that gyros calibrated successfully
if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) && !ins.gyro_calibrated_ok_all()) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyro cal failed"));
AP_Notify::flags.armed = false;
return false;
}
did_ground_start = true;
}
// fast baro calibration to reset ground pressure
@ -219,6 +230,9 @@ static void init_arm_motors()
// reenable failsafe
failsafe_enable();
// return success
return true;
}
// perform pre-arm checks and set ap.pre_arm_check flag