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ArduCopter: add arming message for compass not detected but assigned

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Siddharth Purohit 2019-11-20 13:06:54 +08:00 committed by Randy Mackay
parent 653fad44d4
commit defc1b5fcb
2 changed files with 53 additions and 24 deletions
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5
ArduCopter/AP_Arming.cpp
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@ -96,8 +96,9 @@ bool AP_Arming_Copter::compass_checks(bool display_failure)
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) {
// check compass offsets have been set. AP_Arming only checks
// this if learning is off; Copter *always* checks.
if (!AP::compass().configured()) {
check_failed(ARMING_CHECK_COMPASS, display_failure, "Compass not calibrated");
char failure_msg[50] = {};
if (!AP::compass().configured(failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_COMPASS, display_failure, "%s", failure_msg);
ret = false;
}
}

72
libraries/AP_Compass/AP_Compass.cpp
View File

@ -218,12 +218,6 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Calibration: 1
AP_GROUPINFO("MOT2", 11, Compass, _state[1].motor_compensation, 0),
// @Param: PRIMARY
// @DisplayName: Choose primary compass
// @Description: If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored.
// @Values: 0:FirstCompass,1:SecondCompass,2:ThirdCompass
// @User: Advanced
AP_GROUPINFO("PRIMARY", 12, Compass, _primary, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
@ -292,7 +286,6 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Calibration: 1
AP_GROUPINFO("DEV_ID", 15, Compass, _state[0].dev_id, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: DEV_ID2
// @DisplayName: Compass2 device id
// @Description: Second compass's device id. Automatically detected, do not set manually
@ -300,9 +293,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DEV_ID2", 16, Compass, _state[1].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: DEV_ID3
// @DisplayName: Compass3 device id
// @Description: Third compass's device id. Automatically detected, do not set manually
@ -310,7 +301,6 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
// @Calibration: 1
AP_GROUPINFO("DEV_ID3", 17, Compass, _state[2].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: USE2
@ -520,26 +510,26 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Values: 0:Disabled,1:CheckOnly,2:CheckAndFix
AP_GROUPINFO("AUTO_ROT", 35, Compass, _rotate_auto, HAL_COMPASS_AUTO_ROT_DEFAULT),
// @Param: EXP_DID
// @DisplayName: Compass device id expected
// @Description: The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means "don't care."
// @Param: PRI_DEVID
// @DisplayName: Primary Compass device id
// @Description: Primary Compass device id, set automatically if 0. Reboot required after change.
// @User: Advanced
AP_GROUPINFO("EXP_DID", 36, Compass, _state[0].expected_dev_id, -1),
AP_GROUPINFO("PRI_DEV", 36, Compass, _priority_did_stored_list[0], 0),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: EXP_DID2
// @DisplayName: Compass2 device id expected
// @Description: The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means "don't care."
// @Param: SEC_DID
// @DisplayName: Secondary Compass device id
// @Description: Secondary Compass device id, set automatically if 0. Reboot required after change.
// @User: Advanced
AP_GROUPINFO("EXP_DID2", 37, Compass, _state[1].expected_dev_id, -1),
AP_GROUPINFO("SEC_DEV", 37, Compass, _priority_did_stored_list[1], 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: EXP_DID3
// @DisplayName: Compass3 device id expected
// @Description: The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means "don't care."
// @Param: TER_DID
// @DisplayName: Tertiary Compass device id
// @Description: Tertiary Compass device id, set automatically if 0. Reboot required after change.
// @User: Advanced
AP_GROUPINFO("EXP_DID3", 38, Compass, _state[2].expected_dev_id, -1),
AP_GROUPINFO("TER_DEV", 38, Compass, _priority_did_stored_list[2], 0),
#endif // HAL_COMPASS_MAX_SENSORS
// @Param: ENABLE
@ -581,6 +571,44 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
AP_GROUPINFO("OPTIONS", 43, Compass, _options, 0),
// @Param: DEV_ID4
// @DisplayName: Compass4 device id
// @Description: Extra 4th compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID4", 44, Compass, extra_dev_id[0], 0),
// @Param: DEV_ID5
// @DisplayName: Compass5 device id
// @Description: Extra 5th compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID5", 45, Compass, extra_dev_id[1], 0),
// @Param: DEV_ID6
// @DisplayName: Compass6 device id
// @Description: Extra 6th compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID6", 46, Compass, extra_dev_id[2], 0),
// @Param: DEV_ID7
// @DisplayName: Compass7 device id
// @Description: Extra 7th compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID7", 47, Compass, extra_dev_id[3], 0),
// @Param: DEV_ID8
// @DisplayName: Compass8 device id
// @Description: Extra 8th compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID8", 48, Compass, extra_dev_id[4], 0),
AP_GROUPEND
};