ardupilot/ArduPlane/AP_Arming.cpp

433 lines
14 KiB
C++

/*
additional arming checks for plane
*/
#include "AP_Arming.h"
#include "Plane.h"
#include "qautotune.h"
constexpr uint32_t AP_ARMING_DELAY_MS = 2000; // delay from arming to start of motor spoolup
const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Arming, 0),
// index 3 was RUDDER and should not be used
AP_GROUPEND
};
// expected to return true if the terrain database is required to have
// all data loaded
bool AP_Arming_Plane::terrain_database_required() const
{
#if AP_TERRAIN_AVAILABLE
if (plane.g.terrain_follow) {
return true;
}
#endif
return AP_Arming::terrain_database_required();
}
/*
additional arming checks for plane
*/
bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
{
if (armed || require == (uint8_t)Required::NO) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
}
//are arming checks disabled?
if (checks_to_perform == 0) {
return true;
}
if (hal.util->was_watchdog_armed()) {
// on watchdog reset bypass arming checks to allow for
// in-flight arming if we were armed before the reset. This
// allows a reset on a BVLOS flight to return home if the
// operator can command arming over telemetry
return true;
}
// call parent class checks
bool ret = AP_Arming::pre_arm_checks(display_failure);
// Check airspeed sensor
ret &= AP_Arming::airspeed_checks(display_failure);
if (plane.g.fs_timeout_long < plane.g.fs_timeout_short && plane.g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
check_failed(display_failure, "FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
ret = false;
}
if (plane.aparm.roll_limit_cd < 300) {
check_failed(display_failure, "LIM_ROLL_CD too small (%u)", (unsigned)plane.aparm.roll_limit_cd);
ret = false;
}
if (plane.aparm.pitch_limit_max_cd < 300) {
check_failed(display_failure, "LIM_PITCH_MAX too small (%u)", (unsigned)plane.aparm.pitch_limit_max_cd);
ret = false;
}
if (plane.aparm.pitch_limit_min_cd > -300) {
check_failed(display_failure, "LIM_PITCH_MIN too large (%u)", (unsigned)plane.aparm.pitch_limit_min_cd);
ret = false;
}
if (plane.aparm.airspeed_min < MIN_AIRSPEED_MIN) {
check_failed(display_failure, "ARSPD_FBW_MIN too low (%i < %i)", plane.aparm.airspeed_min.get(), MIN_AIRSPEED_MIN);
ret = false;
}
if (plane.channel_throttle->get_reverse() &&
Plane::ThrFailsafe(plane.g.throttle_fs_enabled.get()) != Plane::ThrFailsafe::Disabled &&
plane.g.throttle_fs_value <
plane.channel_throttle->get_radio_max()) {
check_failed(display_failure, "Invalid THR_FS_VALUE for rev throttle");
ret = false;
}
#if HAL_QUADPLANE_ENABLED
ret &= quadplane_checks(display_failure);
#endif
if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) {
check_failed(display_failure, "No mission loaded");
ret = false;
}
// check adsb avoidance failsafe
if (plane.failsafe.adsb) {
check_failed(display_failure, "ADSB threat detected");
ret = false;
}
if (SRV_Channels::get_emergency_stop()) {
check_failed(display_failure,"Motors Emergency Stopped");
ret = false;
}
if (plane.g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM){
int16_t trim = plane.channel_throttle->get_radio_trim();
if (trim < 1250 || trim > 1750) {
check_failed(display_failure, "Throttle trim not near center stick(%u)",trim );
ret = false;
}
}
if (plane.mission.get_in_landing_sequence_flag() &&
!plane.mission.starts_with_takeoff_cmd()) {
check_failed(display_failure,"In landing sequence");
ret = false;
}
return ret;
}
#if HAL_QUADPLANE_ENABLED
bool AP_Arming_Plane::quadplane_checks(bool display_failure)
{
if (!plane.quadplane.enabled()) {
return true;
}
if (!plane.quadplane.available()) {
check_failed(display_failure, "Quadplane enabled but not running");
return false;
}
bool ret = true;
if (plane.scheduler.get_loop_rate_hz() < 100) {
check_failed(display_failure, "quadplane needs SCHED_LOOP_RATE >= 100");
ret = false;
}
char failure_msg[50] {};
if (!plane.quadplane.motors->arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
check_failed(display_failure, "Motors: %s", failure_msg);
ret = false;
}
// lean angle parameter check
if (plane.quadplane.aparm.angle_max < 1000 || plane.quadplane.aparm.angle_max > 8000) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check Q_ANGLE_MAX");
ret = false;
}
if ((plane.quadplane.tailsitter.enable > 0) && (plane.quadplane.tiltrotor.enable > 0)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "set TAILSIT_ENABLE 0 or TILT_ENABLE 0");
ret = false;
} else {
if ((plane.quadplane.tailsitter.enable > 0) && !plane.quadplane.tailsitter.enabled()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "tailsitter setup not complete, reboot");
ret = false;
}
if ((plane.quadplane.tiltrotor.enable > 0) && !plane.quadplane.tiltrotor.enabled()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "tiltrotor setup not complete, reboot");
ret = false;
}
}
// ensure controllers are OK with us arming:
if (!plane.quadplane.pos_control->pre_arm_checks("PSC", failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
ret = false;
}
if (!plane.quadplane.attitude_control->pre_arm_checks("ATC", failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
ret = false;
}
if (plane.quadplane.option_is_set(QuadPlane::OPTION::ONLY_ARM_IN_QMODE_OR_AUTO)) {
if (!plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto) && (plane.control_mode != &plane.mode_guided)) {
check_failed(display_failure,"not in Q mode");
ret = false;
}
if ((plane.control_mode == &plane.mode_auto) && !plane.quadplane.is_vtol_takeoff(plane.mission.get_current_nav_cmd().id)) {
check_failed(display_failure,"not in VTOL takeoff");
ret = false;
}
}
if ((plane.control_mode == &plane.mode_auto) && !plane.mission.starts_with_takeoff_cmd()) {
check_failed(display_failure,"missing takeoff waypoint");
ret = false;
}
if (plane.control_mode == &plane.mode_rtl) {
check_failed(display_failure,"in RTL mode");
ret = false;
}
/*
Q_ASSIST_SPEED really should be enabled for all quadplanes except tailsitters
*/
if (check_enabled(ARMING_CHECK_PARAMETERS) &&
is_zero(plane.quadplane.assist_speed) &&
!plane.quadplane.tailsitter.enabled()) {
check_failed(display_failure,"Q_ASSIST_SPEED is not set");
ret = false;
}
return ret;
}
#endif // HAL_QUADPLANE_ENABLED
bool AP_Arming_Plane::ins_checks(bool display_failure)
{
// call parent class checks
if (!AP_Arming::ins_checks(display_failure)) {
return false;
}
// additional plane specific checks
if (check_enabled(ARMING_CHECK_INS)) {
char failure_msg[50] = {};
if (!AP::ahrs().pre_arm_check(true, failure_msg, sizeof(failure_msg))) {
check_failed(ARMING_CHECK_INS, display_failure, "AHRS: %s", failure_msg);
return false;
}
}
return true;
}
bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
{
if (method == AP_Arming::Method::RUDDER) {
const AP_Arming::RudderArming arming_rudder = get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
//parameter disallows rudder arming/disabling
// if we emit a message here then someone doing surface
// checks may be bothered by the message being emitted.
// check_failed(true, "Rudder arming disabled");
return false;
}
// if throttle is not down, then pilot cannot rudder arm/disarm
if (!is_zero(plane.get_throttle_input())){
check_failed(true, "Non-zero throttle");
return false;
}
}
if (!plane.control_mode->allows_arming()) {
check_failed(true, "Mode does not allow arming");
return false;
}
//are arming checks disabled?
if (checks_to_perform == 0) {
return true;
}
if (hal.util->was_watchdog_armed()) {
// on watchdog reset bypass arming checks to allow for
// in-flight arming if we were armed before the reset. This
// allows a reset on a BVLOS flight to return home if the
// operator can command arming over telemetry
gcs().send_text(MAV_SEVERITY_WARNING, "watchdog: Bypassing arming checks");
return true;
}
// call parent class checks
return AP_Arming::arm_checks(method);
}
/*
update HAL soft arm state
*/
void AP_Arming_Plane::change_arm_state(void)
{
update_soft_armed();
#if HAL_QUADPLANE_ENABLED
plane.quadplane.set_armed(hal.util->get_soft_armed());
#endif
}
bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
{
if (!AP_Arming::arm(method, do_arming_checks)) {
return false;
}
change_arm_state();
// rising edge of delay_arming oneshot
delay_arming = true;
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
/*
disarm motors
*/
bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks)
{
if (do_disarm_checks &&
(method == AP_Arming::Method::MAVLINK ||
method == AP_Arming::Method::RUDDER)) {
if (plane.is_flying()) {
// don't allow mavlink or rudder disarm while flying
return false;
}
}
if (do_disarm_checks && method == AP_Arming::Method::RUDDER) {
// option must be enabled:
if (get_rudder_arming_type() != AP_Arming::RudderArming::ARMDISARM) {
gcs().send_text(MAV_SEVERITY_INFO, "Rudder disarm: disabled");
return false;
}
}
if (!AP_Arming::disarm(method, do_disarm_checks)) {
return false;
}
if (plane.control_mode != &plane.mode_auto) {
// reset the mission on disarm if we are not in auto
plane.mission.reset();
}
// suppress the throttle in auto-throttle modes
plane.throttle_suppressed = plane.control_mode->does_auto_throttle();
// if no airmode switch assigned, ensure airmode is off:
#if HAL_QUADPLANE_ENABLED
if ((plane.quadplane.air_mode == AirMode::ON) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) {
plane.quadplane.air_mode = AirMode::OFF;
}
#endif
//only log if disarming was successful
change_arm_state();
#if QAUTOTUNE_ENABLED
//save qautotune gains if enabled and success
if (plane.control_mode == &plane.mode_qautotune) {
plane.quadplane.qautotune.save_tuning_gains();
} else {
plane.quadplane.qautotune.reset();
}
#endif
// re-initialize speed variable used in AUTO and GUIDED for
// DO_CHANGE_SPEED commands
plane.new_airspeed_cm = -1;
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
return true;
}
void AP_Arming_Plane::update_soft_armed()
{
bool _armed = is_armed();
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.motor_test.running){
_armed = true;
}
#endif
_armed = _armed && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
hal.util->set_soft_armed(_armed);
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
// update delay_arming oneshot
if (delay_arming &&
(AP_HAL::millis() - hal.util->get_last_armed_change() >= AP_ARMING_DELAY_MS)) {
delay_arming = false;
}
}
/*
extra plane mission checks
*/
bool AP_Arming_Plane::mission_checks(bool report)
{
// base checks
bool ret = AP_Arming::mission_checks(report);
if (plane.mission.get_landing_sequence_start() > 0 && plane.g.rtl_autoland == RtlAutoland::RTL_DISABLE) {
ret = false;
check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled");
}
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.available()) {
const uint16_t num_commands = plane.mission.num_commands();
AP_Mission::Mission_Command prev_cmd {};
for (uint16_t i=1; i<num_commands; i++) {
AP_Mission::Mission_Command cmd;
if (!plane.mission.read_cmd_from_storage(i, cmd)) {
break;
}
if ((cmd.id == MAV_CMD_NAV_VTOL_LAND || cmd.id == MAV_CMD_NAV_LAND) &&
prev_cmd.id == MAV_CMD_NAV_WAYPOINT) {
const float dist = cmd.content.location.get_distance(prev_cmd.content.location);
const float tecs_land_speed = plane.TECS_controller.get_land_airspeed();
const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise_cm*0.01;
const float min_dist = 0.75 * plane.quadplane.stopping_distance(sq(landing_speed));
if (dist < min_dist) {
ret = false;
check_failed(ARMING_CHECK_MISSION, report, "VTOL land too short, min %.0fm", min_dist);
}
}
prev_cmd = cmd;
}
}
#endif
return ret;
}