mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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additional arming checks for plane
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*/
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#include "Plane.h"
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const AP_Param::GroupInfo AP_Arming_Plane::var_info[] PROGMEM = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_Arming, 0),
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// @Param: RUDDER
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// @DisplayName: Rudder Arming
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// @Description: Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero
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// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
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// @User: Advanced
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AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
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AP_GROUPEND
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};
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/*
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additional arming checks for plane
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*/
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bool AP_Arming_Plane::pre_arm_checks(bool report)
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{
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// call parent class checks
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bool ret = AP_Arming::pre_arm_checks(report);
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// Check airspeed sensor
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ret &= AP_Arming::airspeed_checks(report);
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if (plane.g.roll_limit_cd < 300) {
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if (report) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_ROLL_CD too small (%u)"), plane.g.roll_limit_cd);
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}
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ret = false;
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}
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if (plane.aparm.pitch_limit_max_cd < 300) {
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if (report) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MAX too small (%u)"), plane.aparm.pitch_limit_max_cd);
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}
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ret = false;
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}
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if (plane.aparm.pitch_limit_min_cd > -300) {
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if (report) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MIN too large (%u)"), plane.aparm.pitch_limit_min_cd);
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}
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ret = false;
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}
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if (plane.channel_throttle->get_reverse() &&
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plane.g.throttle_fs_enabled &&
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plane.g.throttle_fs_value <
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plane.channel_throttle->radio_max) {
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if (report) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: invalid THR_FS_VALUE for rev throttle"));
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}
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ret = false;
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}
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return ret;
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}
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