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Copter: add safe switch arming check

This commit is contained in:
Randy Mackay 2013-10-05 22:21:53 +09:00
parent 365e82aecb
commit efc02161c4
1 changed files with 14 additions and 3 deletions
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17
ArduCopter/motors.pde
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@ -329,8 +329,11 @@ static void pre_arm_checks(bool display_failure)
return;
}
// pass arming checks at least once
if (!arm_checks(display_failure)) {
// check gps is ok if required - note this same check is repeated again in arm_checks
if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
}
return;
}
@ -374,7 +377,7 @@ static bool arm_checks(bool display_failure)
return true;
}
// check gps is ok if required
// check gps is ok if required - note this same check is also done in pre-arm checks
if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good)) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Bad GPS Pos"));
@ -382,6 +385,14 @@ static bool arm_checks(bool display_failure)
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Safety Switch"));
}
return false;
}
// if we've gotten this far all is ok
return true;
}