ardupilot/ArduPlane/AP_Arming.cpp

136 lines
3.9 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),
// @Param: RUDDER
// @DisplayName: Rudder Arming
// @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 +- deadzone (RCx_DZ)
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
// @User: Advanced
AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
AP_GROUPEND
};
enum HomeState AP_Arming_Plane::home_status() const
{
return plane.home_is_set;
}
/*
additional arming checks for plane
*/
bool AP_Arming_Plane::pre_arm_checks(bool report)
{
// call parent class checks
bool ret = AP_Arming::pre_arm_checks(report);
// Check airspeed sensor
ret &= AP_Arming::airspeed_checks(report);
if (plane.g.long_fs_timeout < plane.g.short_fs_timeout) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
}
ret = false;
}
if (plane.aparm.roll_limit_cd < 300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_max_cd < 300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
}
ret = false;
}
if (plane.aparm.pitch_limit_min_cd > -300) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: 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()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle");
}
ret = false;
}
if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
}
ret = false;
}
if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded");
}
ret = false;
}
// check adsb avoidance failsafe
if (plane.failsafe.adsb) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
}
ret = false;
}
#if HAVE_PX4_MIXER
if (plane.last_mixer_crc == -1) {
if (report) {
// if you ever get this error, a reboot is recommended.
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error");
}
ret = false;
}
#endif // CONFIG_HAL_BOARD
return ret;
}
bool AP_Arming_Plane::ins_checks(bool report)
{
// call parent class checks
if (!AP_Arming::ins_checks(report)) {
return false;
}
// additional plane specific checks
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!ahrs.healthy()) {
if (report) {
const char *reason = ahrs.prearm_failure_reason();
if (reason) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
} else {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
}
}
return false;
}
}
return true;
}