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ardupilot/ArduCopter/AP_Arming.cpp

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#include "Copter.h"
// performs pre-arm checks. expects to be called at 1hz.
void AP_Arming_Copter::update(void)
{
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
pre_arm_display_counter++;
bool display_fail = false;
if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
display_fail = true;
pre_arm_display_counter = 0;
}
set_pre_arm_check(pre_arm_checks(display_fail));
}
// performs pre-arm checks and arming checks
bool AP_Arming_Copter::all_checks_passing(ArmingMethod method)
{
set_pre_arm_check(pre_arm_checks(true));
return copter.ap.pre_arm_check && arm_checks(true, method);
}
// perform pre-arm checks
// return true if the checks pass successfully
bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (copter.motors->armed()) {
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_INTERLOCK) &&
rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP)){
check_failed(ARMING_CHECK_NONE, display_failure, "Interlock/E-Stop Conflict");
return false;
}
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(ARMING_CHECK_NONE, display_failure, "Motor Interlock Enabled");
}
// succeed if pre arm checks are disabled
if (checks_to_perform == ARMING_CHECK_NONE) {
return true;
}
return fence_checks(display_failure)
& parameter_checks(display_failure)
& motor_checks(display_failure)
& pilot_throttle_checks(display_failure) &
AP_Arming::pre_arm_checks(display_failure);
}
bool AP_Arming_Copter::barometer_checks(bool display_failure)
{
if (!AP_Arming::barometer_checks(display_failure)) {
return false;
}
bool ret = true;
// check Baro
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) {
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabsf(copter.inertial_nav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity");
ret = false;
}
}
}
return ret;
}
bool AP_Arming_Copter::compass_checks(bool display_failure)
{
bool ret = AP_Arming::compass_checks(display_failure);
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) {
// check compass offsets have been set. AP_Arming only checks
// this if learning is off; Copter *always* checks.
if (!AP::compass().configured()) {
check_failed(ARMING_CHECK_COMPASS, display_failure, "Compass not calibrated");
ret = false;
}
}
return ret;
}
bool AP_Arming_Copter::fence_checks(bool display_failure)
{
#if AC_FENCE == ENABLED
// check fence is initialised
const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) {
if (fail_msg == nullptr) {
check_failed(ARMING_CHECK_NONE, display_failure, "Check fence");
} else {
check_failed(ARMING_CHECK_NONE, display_failure, "%s", fail_msg);
}
return false;
}
#endif
return true;
}
bool AP_Arming_Copter::ins_checks(bool display_failure)
{
bool ret = AP_Arming::ins_checks(display_failure);
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
check_failed(ARMING_CHECK_INS, display_failure, "gyros still settling");
ret = false;
}
}
return ret;
}
bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
{
if (!AP_Arming::board_voltage_checks(display_failure)) {
return false;
}
// check battery voltage
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
if (copter.battery.has_failsafed()) {
check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe");
return false;
}
// call parent battery checks
if (!AP_Arming::battery_checks(display_failure)) {
return false;
}
}
return true;
}
bool AP_Arming_Copter::parameter_checks(bool display_failure)
{
// check various parameter values
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
// ensure all rc channels have different functions
if (rc().duplicate_options_exist()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Duplicate Aux Switch Options");
return false;
}
// failsafe parameter checks
if (copter.g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE");
return false;
}
}
// lean angle parameter check
if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check ANGLE_MAX");
return false;
}
// acro balance parameter check
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ACRO_BAL_ROLL/PITCH");
return false;
}
#endif
#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (copter.optflow.enabled() && !copter.rangefinder.pre_arm_check()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "check range finder");
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters
if (!copter.motors->parameter_check(display_failure)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
return false;
}
// Inverted flight feature disabled for Heli Single and Dual frames
if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Inverted flight option not supported");
}
return false;
}
#endif // HELI_FRAME
// check for missing terrain data
if (!pre_arm_terrain_check(display_failure)) {
return false;
}
// check adsb avoidance failsafe
#if ADSB_ENABLED == ENABLE
if (copter.failsafe.adsb) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
return false;
}
#endif
// check for something close to vehicle
if (!pre_arm_proximity_check(display_failure)) {
return false;
}
// Check for 0 value PID's - some items can / should be 0 and as such are not checked.
// If the ATC_RAT_*_FF is non zero then the corresponding ATC_RAT_* PIDS can be 0.
if (is_zero(copter.pos_control->get_pos_xy_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "PSC_POSXY_P");
return false;
} else if (is_zero(copter.pos_control->get_pos_z_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "PSC_POSZ_P");
return false;
} else if (is_zero(copter.pos_control->get_vel_z_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "PSC_VELZ_P");
return false;
} else if (is_zero(copter.pos_control->get_accel_z_pid().kP())) {
parameter_checks_pid_warning_message(display_failure, "PSC_ACCZ_P");
return false;
} else if (is_zero(copter.pos_control->get_accel_z_pid().kI())) {
parameter_checks_pid_warning_message(display_failure, "PSC_ACCZ_I");
return false;
} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kP()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_P");
return false;
} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kI()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_I");
return false;
} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kD()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_D");
return false;
} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kP()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_P");
return false;
} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kI()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_I");
return false;
} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kD()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_D");
return false;
} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kP()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_P");
return false;
} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kI()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_I");
return false;
} else if (is_zero(copter.attitude_control->get_angle_pitch_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "ATC_ANG_PIT_P");
return false;
} else if (is_zero(copter.attitude_control->get_angle_roll_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "ATC_ANG_RLL_P");
return false;
} else if (is_zero(copter.attitude_control->get_angle_yaw_p().kP())) {
parameter_checks_pid_warning_message(display_failure, "ATC_ANG_YAW_P");
return false;
}
}
return true;
}
void AP_Arming_Copter::parameter_checks_pid_warning_message(bool display_failure, const char *error_msg)
{
check_failed(ARMING_CHECK_PARAMETERS,
display_failure,
"Check PIDs - %s", error_msg);
}
// check motor setup was successful
bool AP_Arming_Copter::motor_checks(bool display_failure)
{
// check motors initialised correctly
if (!copter.motors->initialised_ok()) {
check_failed(ARMING_CHECK_NONE, display_failure, "check firmware or FRAME_CLASS");
return false;
}
return true;
}
bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
{
// check throttle is above failsafe throttle
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
#if FRAME_CONFIG == HELI_FRAME
const char *failmsg = "Collective below Failsafe";
#else
const char *failmsg = "Throttle below Failsafe";
#endif
check_failed(ARMING_CHECK_RC, display_failure, failmsg);
return false;
}
}
return true;
}
bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
{
const RC_Channel *channels[] = {
copter.channel_roll,
copter.channel_pitch,
copter.channel_throttle,
copter.channel_yaw
};
copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels)
& AP_Arming::rc_calibration_checks(display_failure);
return copter.ap.pre_arm_rc_check;
}
// performs pre_arm gps related checks and returns true if passed
bool AP_Arming_Copter::gps_checks(bool display_failure)
{
AP_Notify::flags.pre_arm_gps_check = false;
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
return false;
}
// check if flight mode requires GPS
bool mode_requires_gps = copter.flightmode->requires_GPS();
// check if fence requires GPS
bool fence_requires_gps = false;
#if AC_FENCE == ENABLED
// if circular or polygon fence is enabled we need GPS
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif
// return true if GPS is not required
if (!mode_requires_gps && !fence_requires_gps) {
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// ensure GPS is ok
if (!copter.position_ok()) {
const char *reason = ahrs.prearm_failure_reason();
if (reason == nullptr) {
if (!mode_requires_gps && fence_requires_gps) {
// clarify to user why they need GPS in non-GPS flight mode
reason = "Fence enabled, need 3D Fix";
} else {
reason = "Need 3D Fix";
}
}
check_failed(ARMING_CHECK_NONE, display_failure, "%s", reason);
return false;
}
// check for GPS glitch (as reported by EKF)
nav_filter_status filt_status;
if (ahrs.get_filter_status(filt_status)) {
if (filt_status.flags.gps_glitching) {
check_failed(ARMING_CHECK_NONE, display_failure, "GPS glitching");
return false;
}
}
// check EKF compass variance is below failsafe threshold
float vel_variance, pos_variance, hgt_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF compass variance");
return false;
}
// check home and EKF origin are not too far
if (copter.far_from_EKF_origin(ahrs.get_home())) {
check_failed(ARMING_CHECK_NONE, display_failure, "EKF-home variance");
return false;
}
// return true immediately if gps check is disabled
if (!(checks_to_perform == ARMING_CHECK_ALL || checks_to_perform & ARMING_CHECK_GPS)) {
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// warn about hdop separately - to prevent user confusion with no gps lock
if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
check_failed(ARMING_CHECK_GPS, display_failure, "PreArm: High GPS HDOP");
return false;
}
// call parent gps checks
if (!AP_Arming::gps_checks(display_failure)) {
return false;
}
// if we got here all must be ok
AP_Notify::flags.pre_arm_gps_check = true;
return true;
}
// check ekf attitude is acceptable
bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
{
// get ekf filter status
nav_filter_status filt_status = copter.inertial_nav.get_filter_status();
return filt_status.flags.attitude;
}
// check we have required terrain data
bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure)
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
// succeed if not using terrain data
if (!copter.terrain_use()) {
return true;
}
// check if terrain following is enabled, using a range finder but RTL_ALT is higher than rangefinder's max range
// To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check
if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "RTL_ALT above rangefinder max range");
return false;
}
// show terrain statistics
uint16_t terr_pending, terr_loaded;
copter.terrain.get_statistics(terr_pending, terr_loaded);
bool have_all_data = (terr_pending <= 0);
if (!have_all_data) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Waiting for Terrain data");
}
return have_all_data;
#else
return true;
#endif
}
// check nothing is too close to vehicle
bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
{
#if PROXIMITY_ENABLED == ENABLED
// return true immediately if no sensor present
if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
return true;
}
// return false if proximity sensor unhealthy
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "check proximity sensor");
return false;
}
// get closest object if we might use it for avoidance
#if AC_AVOID_ENABLED == ENABLED
float angle_deg, distance;
if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) {
// display error if something is within 60cm
if (distance <= 0.6f) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance);
return false;
}
}
#endif
return true;
#else
return true;
#endif
}
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
// has side-effect that logging is started
bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod method)
{
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// always check if inertial nav has started and is ready
if (!ahrs.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Waiting for Nav Checks");
return false;
}
const Compass &_compass = AP::compass();
#ifndef ALLOW_ARM_NO_COMPASS
// check compass health
if (!_compass.healthy()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass not healthy");
return false;
}
#endif
if (_compass.is_calibrating()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass calibration running");
return false;
}
//check if compass has calibrated and requires reboot
if (_compass.compass_cal_requires_reboot()) {
check_failed(ARMING_CHECK_NONE, display_failure, "Compass calibrated requires reboot");
return false;
}
control_mode_t control_mode = copter.control_mode;
// always check if the current mode allows arming
if (!copter.flightmode->allows_arming(method == AP_Arming::ArmingMethod::MAVLINK)) {
check_failed(ARMING_CHECK_NONE, display_failure, "Mode not armable");
return false;
}
// always check motors
if (!motor_checks(display_failure)) {
return false;
}
// if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(ARMING_CHECK_NONE, display_failure, "Motor Interlock Enabled");
return false;
}
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
// can run normally
if (!rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP)){
copter.set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP) && copter.ap.motor_emergency_stop){
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
return false;
}
// succeed if arming checks are disabled
if (checks_to_perform == ARMING_CHECK_NONE) {
return true;
}
// check lean angle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {
check_failed(ARMING_CHECK_INS, display_failure, "Leaning");
return false;
}
}
// check adsb
#if ADSB_ENABLED == ENABLE
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
if (copter.failsafe.adsb) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
return false;
}
}
#endif
// check throttle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
#if FRAME_CONFIG == HELI_FRAME
const char *rc_item = "Collective";
#else
const char *rc_item = "Throttle";
#endif
// check throttle is not too low - must be above failsafe throttle
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
check_failed(ARMING_CHECK_RC, display_failure, "%s below failsafe", rc_item);
return false;
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(method == AP_Arming::ArmingMethod::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);
return false;
}
// in manual modes throttle must be at zero
if ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);
return false;
}
}
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
check_failed(ARMING_CHECK_NONE, display_failure, "Safety Switch");
return false;
}
// superclass method should always be the last thing called; it
// has side-effects which would need to be cleaned up if one of
// our arm checks failed
return AP_Arming::arm_checks(method);
}
void AP_Arming_Copter::set_pre_arm_check(bool b)
{
copter.ap.pre_arm_check = b;
AP_Notify::flags.pre_arm_check = b;
}
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