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AP_Arming: add rc_in_calibration_check to manual_transmitter_checks and mandatory_checks

This commit is contained in:
Iampete1 2021-08-30 16:53:22 +01:00 committed by Andrew Tridgell
parent 0613ce64d7
commit f7a788dc44
2 changed files with 18 additions and 2 deletions
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16
libraries/AP_Arming/AP_Arming.cpp
View File

@ -686,6 +686,15 @@ bool AP_Arming::rc_calibration_checks(bool report)
return check_passed;
}
bool AP_Arming::rc_in_calibration_check(bool report)
{
if (rc().calibrating()) {
check_failed(ARMING_CHECK_RC, report, "RC calibrating");
return false;
}
return true;
}
bool AP_Arming::manual_transmitter_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
@ -701,7 +710,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
}
}
return true;
return rc_in_calibration_check(report);
}
bool AP_Arming::mission_checks(bool report)
@ -1331,6 +1340,11 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
return true;
}
bool AP_Arming::mandatory_checks(bool report)
{
return rc_in_calibration_check(report);
}
//returns true if arming occurred successfully
bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
{

4
libraries/AP_Arming/AP_Arming.h
View File

@ -158,6 +158,8 @@ protected:
virtual bool rc_calibration_checks(bool report);
bool rc_in_calibration_check(bool report);
bool rc_arm_checks(AP_Arming::Method method);
bool manual_transmitter_checks(bool report);
@ -195,7 +197,7 @@ protected:
bool disarm_switch_checks(bool report) const;
// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
virtual bool mandatory_checks(bool report) { return true; }
virtual bool mandatory_checks(bool report);
// returns true if a particular check is enabled
bool check_enabled(const enum AP_Arming::ArmingChecks check) const;