ardupilot/ArduPlane/AP_Arming.cpp

109 lines
3.2 KiB
C++

/*
additional arming checks for plane
*/
#include "AP_Arming.h"
#include "Plane.h"
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
};
/*
additional arming checks for plane
*/
bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
{
// 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(ARMING_CHECK_NONE, display_failure, "FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
ret = false;
}
if (plane.aparm.roll_limit_cd < 300) {
check_failed(ARMING_CHECK_NONE, display_failure, "LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
ret = false;
}
if (plane.aparm.pitch_limit_max_cd < 300) {
check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
ret = false;
}
if (plane.aparm.pitch_limit_min_cd > -300) {
check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
ret = false;
}
if (plane.channel_throttle->get_reverse() &&
plane.g.throttle_fs_enabled &&
plane.g.throttle_fs_value <
plane.channel_throttle->get_radio_max()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Invalid THR_FS_VALUE for rev throttle");
ret = false;
}
if (plane.quadplane.enabled() && !plane.quadplane.available()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Quadplane enabled but not running");
ret = false;
}
if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
check_failed(ARMING_CHECK_NONE, display_failure, "quadplane needs SCHED_LOOP_RATE >= 100");
ret = false;
}
if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
check_failed(ARMING_CHECK_NONE, display_failure, "No mission loaded");
ret = false;
}
// check adsb avoidance failsafe
if (plane.failsafe.adsb) {
check_failed(ARMING_CHECK_NONE, display_failure, "ADSB threat detected");
ret = false;
}
#if HAVE_PX4_MIXER
if (plane.last_mixer_crc == -1) {
check_failed(ARMING_CHECK_NONE, display_failure, "Mixer error");
ret = false;
}
#endif // CONFIG_HAL_BOARD
return ret;
}
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 ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().healthy()) {
const char *reason = AP::ahrs().prearm_failure_reason();
if (reason == nullptr) {
reason = "AHRS not healthy";
}
check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
return false;
}
}
return true;
}