mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
#include "Copter.h"
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//
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// pre-takeoff checks
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//
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// detects if the vehicle should be allowed to takeoff or not and sets the motors.blocked flag
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void Copter::takeoff_check()
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{
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#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
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// If takeoff check is disabled or vehicle is armed and flying then clear block and return
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if ((g2.takeoff_rpm_min <= 0) || (motors->armed() && !ap.land_complete)) {
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motors->set_spoolup_block(false);
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return;
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}
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// block takeoff when disarmed but do not display warnings
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if (!motors->armed()) {
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motors->set_spoolup_block(true);
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takeoff_check_warning_ms = 0;
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return;
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}
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// if motors have become unblocked return immediately
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// this ensures the motors can only be blocked immediate after arming
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if (!motors->get_spoolup_block()) {
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return;
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}
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// check ESCs are sending RPM at expected level
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uint32_t motor_mask = motors->get_motor_mask();
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#if HAL_WITH_IO_MCU
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if (AP_BoardConfig::io_enabled()) {
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// In 4.4 and earlier ESC telemetry is always indexed from 1 for servo channels 9+
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motor_mask >>= 8;
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}
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#endif
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const bool telem_active = AP::esc_telem().is_telemetry_active(motor_mask);
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const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min);
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// if RPM is at the expected level clear block
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if (telem_active && rpm_adequate) {
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motors->set_spoolup_block(false);
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return;
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}
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// warn user telem inactive or rpm is inadequate every 5 seconds
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uint32_t now_ms = AP_HAL::millis();
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if (takeoff_check_warning_ms == 0) {
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takeoff_check_warning_ms = now_ms;
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}
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if (now_ms - takeoff_check_warning_ms > 5000) {
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takeoff_check_warning_ms = now_ms;
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const char* prefix_str = "Takeoff blocked:";
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if (!telem_active) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "%s waiting for ESC RPM", prefix_str);
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} else if (!rpm_adequate) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "%s ESC RPM too low", prefix_str);
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}
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}
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#endif
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}
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