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Copter: init_arm_motors calls pre-arm checks

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This reduces a small amount of duplicated code in the pilot initiated
arming and GCS initiated arming functions
This commit is contained in:
Randy Mackay 2015-01-30 17:56:22 +09:00
parent f4c392c64d
commit e7f20c04c3
2 changed files with 14 additions and 22 deletions
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14
ArduCopter/GCS_Mavlink.pde
View File

@ -1162,16 +1162,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
if(pre_arm_checks(true) && arm_checks(true, true)) {
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
// attempt to arm and return success or failure
if (init_arm_motors(false)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
}
} else if (packet.param1 == 0.0f && (mode_has_manual_throttle(control_mode) || ap.land_complete)) {

22
ArduCopter/motors.pde
View File

@ -31,17 +31,9 @@ static void arm_motors_check()
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors.armed()) {
// run pre-arm-checks and display failures
if(pre_arm_checks(true) && arm_checks(true,false)) {
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
// reset arming counter if arming fail
if (!init_arm_motors(false)) {
arming_counter = 0;
AP_Notify::flags.arming_failed = true;
}
}
@ -100,8 +92,8 @@ static void auto_disarm_check()
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false in the unlikely case that arming fails (because of a gyro calibration failure)
static bool init_arm_motors()
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
static bool init_arm_motors(bool arming_from_gcs)
{
// arming marker
// Flag used to track if we have armed the motors the first time.
@ -109,6 +101,12 @@ static bool init_arm_motors()
// which calibrates the IMU
static bool did_ground_start = false;
// run pre-arm-checks and display failures
if(!pre_arm_checks(true) || !arm_checks(true, arming_from_gcs)) {
AP_Notify::flags.arming_failed = true;
return false;
}
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();