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Rover: move common proximity pre-arm checks up

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Peter Barker 2019-05-30 12:29:21 +10:00 committed by Randy Mackay
parent bb14ec1a2c
commit df3a7d32ea
2 changed files with 1 additions and 20 deletions
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20
APMrover2/AP_Arming.cpp
View File

@ -92,8 +92,7 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
return (AP_Arming::pre_arm_checks(report)
& rover.g2.motors.pre_arm_check(report)
& fence_checks(report)
& proximity_check(report));
& fence_checks(report));
}
bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@ -105,23 +104,6 @@ bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
return AP_Arming::arm_checks(method);
}
// check nothing is too close to vehicle
bool AP_Arming_Rover::proximity_check(bool report)
{
// return true immediately if no sensor present
if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
return true;
}
// return false if proximity sensor unhealthy
if (rover.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
check_failed(ARMING_CHECK_NONE, report, "check proximity sensor");
return false;
}
return true;
}
void AP_Arming_Rover::update_soft_armed()
{
hal.util->set_soft_armed(is_armed() &&

1
APMrover2/AP_Arming.h
View File

@ -27,7 +27,6 @@ public:
void update_soft_armed();
protected:
bool proximity_check(bool report);
private: