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Plane: update for changed AP_Arming API

This commit is contained in:
Andrew Tridgell 2015-09-08 13:54:45 +10:00
parent c48bef1552
commit f92f46ee99
2 changed files with 7 additions and 8 deletions
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7
ArduPlane/Plane.h
View File

@ -117,8 +117,8 @@ class AP_Arming_Plane : public AP_Arming
{ {
public: public:
AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass, AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set, gcs_send_t_p gcs_send) : const enum HomeState &home_set) :
AP_Arming(ahrs_ref, baro, compass, home_set, gcs_send) { AP_Arming(ahrs_ref, baro, compass, home_set) {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
bool pre_arm_checks(bool report); bool pre_arm_checks(bool report);
@ -658,8 +658,7 @@ private:
#endif #endif
// Arming/Disarming mangement class // Arming/Disarming mangement class
AP_Arming_Plane arming {ahrs, barometer, compass, home_is_set, AP_Arming_Plane arming {ahrs, barometer, compass, home_is_set };
FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, MAV_SEVERITY, const prog_char_t *)};
AP_Param param_loader {var_info}; AP_Param param_loader {var_info};

8
ArduPlane/arming_checks.cpp
View File

@ -32,21 +32,21 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
if (plane.g.roll_limit_cd < 300) { if (plane.g.roll_limit_cd < 300) {
if (report) { if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: LIM_ROLL_CD too small")); GCS_MAVLINK::send_statustext_all(PSTR("PreArm: LIM_ROLL_CD too small (%u)"), plane.g.roll_limit_cd);
} }
ret = false; ret = false;
} }
if (plane.aparm.pitch_limit_max_cd < 300) { if (plane.aparm.pitch_limit_max_cd < 300) {
if (report) { if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: LIM_PITCH_MAX too small")); GCS_MAVLINK::send_statustext_all(PSTR("PreArm: LIM_PITCH_MAX too small (%u)"), plane.aparm.pitch_limit_max_cd);
} }
ret = false; ret = false;
} }
if (plane.aparm.pitch_limit_min_cd > -300) { if (plane.aparm.pitch_limit_min_cd > -300) {
if (report) { if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: LIM_PITCH_MIN too large")); GCS_MAVLINK::send_statustext_all(PSTR("PreArm: LIM_PITCH_MIN too large (%u)"), plane.aparm.pitch_limit_min_cd);
} }
ret = false; ret = false;
} }
@ -56,7 +56,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
plane.g.throttle_fs_value < plane.g.throttle_fs_value <
plane.channel_throttle->radio_max) { plane.channel_throttle->radio_max) {
if (report) { if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: invalid THR_FS_VALUE for rev throttle")); GCS_MAVLINK::send_statustext_all(PSTR("PreArm: invalid THR_FS_VALUE for rev throttle"));
} }
ret = false; ret = false;
} }