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Copter: pre_arm_checks returns success or failure 

This makes the pre-arm check function consist with the other arming
check functions
This commit is contained in:
Randy Mackay 2015-01-21 21:43:06 +09:00
parent 64af4ff923
commit f4c392c64d
3 changed files with 32 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/ArduCopter.pde
View File

@ -713,7 +713,7 @@ AP_Terrain terrain(ahrs, mission, rally);
////////////////////////////////////////////////////////////////////////////////
// function definitions to keep compiler from complaining about undeclared functions
////////////////////////////////////////////////////////////////////////////////
static void pre_arm_checks(bool display_failure);
static bool pre_arm_checks(bool display_failure);
////////////////////////////////////////////////////////////////////////////////
// Top-level logic

3
ArduCopter/GCS_Mavlink.pde
View File

@ -1163,8 +1163,7 @@ 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
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true, true)) {
if(pre_arm_checks(true) && arm_checks(true, true)) {
if (init_arm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {

58
ArduCopter/motors.pde
View File

@ -32,8 +32,7 @@ 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
pre_arm_checks(true);
if(ap.pre_arm_check && arm_checks(true,false)) {
if(pre_arm_checks(true) && arm_checks(true,false)) {
if (!init_arm_motors()) {
// reset arming counter if arming fail
arming_counter = 0;
@ -199,25 +198,27 @@ static bool init_arm_motors()
}
// perform pre-arm checks and set ap.pre_arm_check flag
static void pre_arm_checks(bool display_failure)
// return true if the checks pass successfully
static bool pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (motors.armed()) {
return;
return true;
}
// exit immediately if we've already successfully performed the pre-arm check
// run gps checks because results may change and affect LED colour
if (ap.pre_arm_check) {
pre_arm_gps_checks(display_failure);
return;
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
pre_arm_gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if(g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return;
return true;
}
// pre-arm rc checks a prerequisite
@ -226,7 +227,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: RC not calibrated"));
}
return;
return false;
}
// check Baro
@ -236,14 +237,14 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Barometer not healthy"));
}
return;
return false;
}
// check Baro & inav alt are within 1m
if(fabs(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Altitude disparity"));
}
return;
return false;
}
}
@ -254,7 +255,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
}
return;
return false;
}
// check compass learning is on or offsets have been set
@ -262,7 +263,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
}
return;
return false;
}
// check for unreasonable compass offsets
@ -271,7 +272,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));
}
return;
return false;
}
// check for unreasonable mag field length
@ -280,7 +281,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field"));
}
return;
return false;
}
#if COMPASS_MAX_INSTANCES > 1
@ -297,7 +298,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent compasses"));
}
return;
return false;
}
}
}
@ -307,7 +308,7 @@ static void pre_arm_checks(bool display_failure)
// check GPS
if (!pre_arm_gps_checks(display_failure)) {
return;
return false;
}
// check fence is initialised
@ -315,7 +316,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check fence"));
}
return;
return false;
}
// check INS
@ -325,7 +326,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not calibrated"));
}
return;
return false;
}
// check accels are healthy
@ -333,7 +334,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Accelerometers not healthy"));
}
return;
return false;
}
#if INS_MAX_INSTANCES > 1
@ -348,7 +349,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent Accelerometers"));
}
return;
return false;
}
}
}
@ -359,7 +360,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyros not healthy"));
}
return;
return false;
}
#if INS_MAX_INSTANCES > 1
@ -372,7 +373,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: inconsistent Gyros"));
}
return;
return false;
}
}
}
@ -386,7 +387,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage"));
}
return;
return false;
}
}
#endif
@ -400,7 +401,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Ch7&Ch8 Option cannot be same"));
}
return;
return false;
}
// failsafe parameter checks
@ -410,7 +411,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE"));
}
return;
return false;
}
}
@ -419,7 +420,7 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check ANGLE_MAX"));
}
return;
return false;
}
// acro balance parameter check
@ -427,12 +428,13 @@ static void pre_arm_checks(bool display_failure)
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
}
return;
return false;
}
}
// if we've gotten this far then pre arm checks have completed
set_pre_arm_check(true);
return true;
}
// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag