From f67d247a466ef3c8c745726d7ac4a8d75f6279c6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Aug 2016 22:02:48 +1000
Subject: [PATCH] Copter: factor pre-arm checks, continue testing after a
 failure

The functional change here is that we continue to run later checks
when a check fails.

The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.

This makes things work a little more like Plane, in preparation for
using AP_Arming.
---
 ArduCopter/Copter.h          |  9 ++++++
 ArduCopter/arming_checks.cpp | 53 ++++++++++++++++++++++++++++++++++++
 2 files changed, 62 insertions(+)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7caecae139..a887e9495f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -635,6 +635,15 @@ private:
     void set_land_complete_maybe(bool b);
     void set_pre_arm_check(bool b);
     void set_pre_arm_rc_check(bool b);
+    bool rc_calibration_checks(bool display_failure);
+    bool gps_checks(bool display_failure);
+    bool fence_checks(bool display_failure);
+    bool compass_checks(bool display_failure);
+    bool ins_checks(bool display_failure);
+    bool board_voltage_checks(bool display_failure);
+    bool parameter_checks(bool display_failure);
+    bool pilot_throttle_checks(bool display_failure);
+    bool barometer_checks(bool display_failure);
     void update_using_interlock();
     void set_motor_emergency_stop(bool b);
     float get_smoothing_gain();
diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index 0f2cccf2c8..d05ca4fc4e 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -75,6 +75,22 @@ bool Copter::pre_arm_checks(bool display_failure)
         return true;
     }
 
+    bool ret = true;
+    ret &= barometer_checks(display_failure);
+    ret &= rc_calibration_checks(display_failure);
+    ret &= compass_checks(display_failure);
+    ret &= gps_checks(display_failure);
+    ret &= fence_checks(display_failure);
+    ret &= ins_checks(display_failure);
+    ret &= board_voltage_checks(display_failure);
+    ret &= parameter_checks(display_failure);
+    ret &= pilot_throttle_checks(display_failure);
+
+    return ret;
+}
+
+bool Copter::rc_calibration_checks(bool display_failure)
+{
     // pre-arm rc checks a prerequisite
     pre_arm_rc_checks();
     if (!ap.pre_arm_rc_check) {
@@ -83,6 +99,11 @@ bool Copter::pre_arm_checks(bool display_failure)
         }
         return false;
     }
+    return true;
+}
+
+bool Copter::barometer_checks(bool display_failure)
+{
     // check Baro
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
         // barometer health check
@@ -106,7 +127,11 @@ bool Copter::pre_arm_checks(bool display_failure)
             }
         }
     }
+    return true;
+}
 
+bool Copter::compass_checks(bool display_failure)
+{
     // check Compass
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
         //check if compass has calibrated and requires reboot
@@ -161,11 +186,20 @@ bool Copter::pre_arm_checks(bool display_failure)
 
     }
 
+    return true;
+}
+
+bool Copter::gps_checks(bool display_failure)
+{
     // check GPS
     if (!pre_arm_gps_checks(display_failure)) {
         return false;
     }
+    return true;
+}
 
+bool Copter::fence_checks(bool display_failure)
+{
     #if AC_FENCE == ENABLED
     // check fence is initialised
     if (!fence.pre_arm_check()) {
@@ -175,7 +209,11 @@ bool Copter::pre_arm_checks(bool display_failure)
         return false;
     }
     #endif
+    return true;
+}
 
+bool Copter::ins_checks(bool display_failure)
+{
     // check INS
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
         // check accelerometers have been calibrated
@@ -261,6 +299,11 @@ bool Copter::pre_arm_checks(bool display_failure)
             return false;
         }
     }
+    return true;
+}
+
+bool Copter::board_voltage_checks(bool display_failure)
+{
     #if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
     #ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
     // check board voltage
@@ -285,6 +328,11 @@ bool Copter::pre_arm_checks(bool display_failure)
         }
     }
 
+    return true;
+}
+
+bool Copter::parameter_checks(bool display_failure)
+{
     // check various parameter values
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
 
@@ -353,6 +401,11 @@ bool Copter::pre_arm_checks(bool display_failure)
         }
     }
 
+    return true;
+}
+
+bool Copter::pilot_throttle_checks(bool display_failure)
+{
     // check throttle is above failsafe throttle
     // this is near the bottom to allow other failures to be displayed before checking pilot throttle
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {