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Copter: pre-arm check includes adsb failsafe

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This commit is contained in:
Randy Mackay 2016-07-21 21:42:32 +09:00
parent 68899ed921
commit df55704875
1 changed files with 18 additions and 0 deletions
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18
ArduCopter/arming_checks.cpp
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@ -337,6 +337,14 @@ bool Copter::pre_arm_checks(bool display_failure)
if (!pre_arm_terrain_check(display_failure)) { if (!pre_arm_terrain_check(display_failure)) {
return false; return false;
} }
// check adsb avoidance failsafe
if (failsafe.adsb) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
}
return false;
}
} }
// check throttle is above failsafe throttle // check throttle is above failsafe throttle
@ -677,6 +685,16 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
} }
} }
// check adsb
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
if (failsafe.adsb) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
}
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