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Copter: add terrain pre-arm check

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This commit is contained in:
Randy Mackay 2016-03-19 15:26:10 +09:00
parent 91f6c7b503
commit ddffbe27aa
2 changed files with 29 additions and 0 deletions
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1
ArduCopter/Copter.h
View File

@ -900,6 +900,7 @@ private:
void pre_arm_rc_checks(); void pre_arm_rc_checks();
bool pre_arm_gps_checks(bool display_failure); bool pre_arm_gps_checks(bool display_failure);
bool pre_arm_ekf_attitude_check(); bool pre_arm_ekf_attitude_check();
bool pre_arm_terrain_check();
bool arm_checks(bool display_failure, bool arming_from_gcs); bool arm_checks(bool display_failure, bool arming_from_gcs);
void init_disarm_motors(); void init_disarm_motors();
void motors_output(); void motors_output();

28
ArduCopter/arming_checks.cpp
View File

@ -332,6 +332,12 @@ bool Copter::pre_arm_checks(bool display_failure)
return false; return false;
} }
#endif // HELI_FRAME #endif // HELI_FRAME
// check for missing terrain data
if (!pre_arm_terrain_check()) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data");
return false;
}
} }
// check throttle is above failsafe throttle // check throttle is above failsafe throttle
@ -486,6 +492,20 @@ bool Copter::pre_arm_ekf_attitude_check()
return filt_status.flags.attitude; return filt_status.flags.attitude;
} }
// check we have required terrain data
bool Copter::pre_arm_terrain_check()
{
// succeed if not using terrain data
if (!terrain_use()) {
return true;
}
// show terrain statistics
uint16_t terr_pending, terr_loaded;
terrain.get_statistics(terr_pending, terr_loaded);
return (terr_pending <= 0);
}
// arm_checks - perform final checks before arming // arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm // always called just before arming. Return true if ok to arm
// has side-effect that logging is started // has side-effect that logging is started
@ -636,6 +656,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
} }
} }
// check for missing terrain data
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
if (!pre_arm_terrain_check()) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Terrain data");
return false;
}
}
// check throttle // check throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
// check throttle is not too low - must be above failsafe throttle // check throttle is not too low - must be above failsafe throttle