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AP_Arming: check pin arming_checks

This commit is contained in:
Andrew Tridgell 2021-07-20 14:20:47 +10:00
parent 8660e98b57
commit f91e995e98
1 changed files with 22 additions and 0 deletions
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22
libraries/AP_Arming/AP_Arming.cpp
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@ -39,6 +39,7 @@
#include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_Parachute/AP_Parachute.h>
#include <AP_OSD/AP_OSD.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
@ -852,6 +853,27 @@ bool AP_Arming::system_checks(bool report)
return false;
}
if (check_enabled(ARMING_CHECK_PARAMETERS)) {
auto *rpm = AP::rpm();
char buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
if (rpm && !rpm->arming_checks(sizeof(buffer), buffer)) {
check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
return false;
}
auto *relay = AP::relay();
if (relay && !relay->arming_checks(sizeof(buffer), buffer)) {
check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
return false;
}
#if HAL_PARACHUTE_ENABLED
auto *chute = AP::parachute();
if (chute && !chute->arming_checks(sizeof(buffer), buffer)) {
check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
return false;
}
#endif
}
return true;
}