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AP_Motors: display message in heli parameter_check()

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This commit is contained in:
Andrew Tridgell 2015-09-14 12:02:52 +10:00
parent 94eb23ef56
commit f22a1d3e6d
2 changed files with 15 additions and 2 deletions
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15
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -22,6 +22,7 @@
#include <stdlib.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_MotorsHeli.h"
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -272,25 +273,37 @@ void AP_MotorsHeli::output_disarmed()
}
// parameter_check - check if helicopter specific parameters are sensible
bool AP_MotorsHeli::parameter_check() const
bool AP_MotorsHeli::parameter_check(bool display_msg) const
{
// returns false if _rsc_setpoint is not higher than _rsc_critical as this would not allow rotor_runup_complete to ever return true
if (_rsc_critical >= _rsc_setpoint) {
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_CRITICAL too large"));
}
return false;
}
// returns false if RSC Mode is not set to a valid control mode
if (_rsc_mode <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _rsc_mode > (int8_t)ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT) {
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_MODE invalid"));
}
return false;
}
// returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
if (_rsc_runup_time <= _rsc_ramp_time){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RUNUP_TIME too small"));
}
return false;
}
// returns false if idle output is higher than critical rotor speed as this could block runup_complete from going false
if ( _rsc_idle_output >= _rsc_critical){
if (display_msg) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_IDLE too large"));
}
return false;
}

2
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -102,7 +102,7 @@ public:
virtual bool allow_arming() const = 0;
// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
bool parameter_check() const;
bool parameter_check(bool display_msg) const;
// has_flybar - returns true if we have a mechical flybar
virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }