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Copter: add arming check of fence

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This commit is contained in:
Randy Mackay 2015-07-08 15:20:47 +09:00
parent f4a9f9876f
commit fbe0e5dfb3
1 changed files with 10 additions and 0 deletions
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10
ArduCopter/motors.cpp
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@ -727,6 +727,16 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
return false; return false;
} }
#if AC_FENCE == ENABLED
// check vehicle is within fence
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: check fence"));
}
return false;
}
#endif
// check lean angle // check lean angle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) { if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {