mirror of https://github.com/ArduPilot/ardupilot
750 lines
27 KiB
C++
750 lines
27 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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// performs pre-arm checks. expects to be called at 1hz.
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void Copter::update_arming_checks(void)
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{
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// perform pre-arm checks & display failures every 30 seconds
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static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
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pre_arm_display_counter++;
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bool display_fail = false;
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if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
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display_fail = true;
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pre_arm_display_counter = 0;
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}
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if (pre_arm_checks(display_fail)) {
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set_pre_arm_check(true);
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}
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}
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// performs pre-arm checks and arming checks
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bool Copter::all_arming_checks_passing(bool arming_from_gcs)
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{
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if (pre_arm_checks(true)) {
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set_pre_arm_check(true);
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}
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return ap.pre_arm_check && arm_checks(true, arming_from_gcs);
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}
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// perform pre-arm checks and set ap.pre_arm_check flag
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// return true if the checks pass successfully
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bool Copter::pre_arm_checks(bool display_failure)
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{
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// exit immediately if already armed
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if (motors.armed()) {
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return true;
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}
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// check if motor interlock and Emergency Stop aux switches are used
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// at the same time. This cannot be allowed.
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if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
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}
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return false;
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}
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// check if motor interlock aux switch is in use
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// if it is, switch needs to be in disabled position to arm
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// otherwise exit immediately. This check to be repeated,
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// as state can change at any time.
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if (ap.using_interlock && motors.get_interlock()){
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
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}
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return false;
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}
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// exit immediately if we've already successfully performed the pre-arm check
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if (ap.pre_arm_check) {
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// run gps checks because results may change and affect LED colour
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// no need to display failures because arm_checks will do that if the pilot tries to arm
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pre_arm_gps_checks(false);
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return true;
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}
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// succeed if pre arm checks are disabled
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if (g.arming_check == ARMING_CHECK_NONE) {
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set_pre_arm_check(true);
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set_pre_arm_rc_check(true);
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return true;
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}
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// pre-arm rc checks a prerequisite
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pre_arm_rc_checks();
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if (!ap.pre_arm_rc_check) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
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}
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return false;
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}
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// check Baro
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
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// barometer health check
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if (!barometer.all_healthy()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
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}
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return false;
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}
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// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
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// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
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// that may differ from the baro height due to baro drift.
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
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if (using_baro_ref) {
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if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
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}
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return false;
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}
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}
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}
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// check Compass
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
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//check if compass has calibrated and requires reboot
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if (compass.compass_cal_requires_reboot()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
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}
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return false;
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}
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// check the primary compass is healthy
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if (!compass.healthy()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
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}
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return false;
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}
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// check compass learning is on or offsets have been set
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if (!compass.configured()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
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}
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return false;
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}
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// check for unreasonable compass offsets
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Vector3f offsets = compass.get_offsets();
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if (offsets.length() > COMPASS_OFFSETS_MAX) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
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}
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return false;
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}
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// check for unreasonable mag field length
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float mag_field = compass.get_field().length();
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if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field");
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}
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return false;
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}
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// check all compasses point in roughly same direction
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if (!compass.consistent()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
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}
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return false;
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}
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}
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// check GPS
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if (!pre_arm_gps_checks(display_failure)) {
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return false;
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}
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#if AC_FENCE == ENABLED
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// check fence is initialised
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if (!fence.pre_arm_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
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}
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return false;
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}
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#endif
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// check INS
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
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// check accelerometers have been calibrated
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if (!ins.accel_calibrated_ok_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
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}
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return false;
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}
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// check accels are healthy
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if (!ins.get_accel_health_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
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}
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return false;
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}
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//check if accelerometers have calibrated and require reboot
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if (ins.accel_cal_requires_reboot()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
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}
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return false;
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}
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// check all accelerometers point in roughly same direction
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if (ins.get_accel_count() > 1) {
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const Vector3f &prime_accel_vec = ins.get_accel();
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for(uint8_t i=0; i<ins.get_accel_count(); i++) {
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// get next accel vector
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const Vector3f &accel_vec = ins.get_accel(i);
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Vector3f vec_diff = accel_vec - prime_accel_vec;
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float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
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if (i >= 2) {
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/*
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* for boards with 3 IMUs we only use the first two
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* in the EKF. Allow for larger accel discrepancy
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* for IMU3 as it may be running at a different temperature
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*/
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threshold *= 2;
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}
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if (vec_diff.length() > threshold) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");
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}
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return false;
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}
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}
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}
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// check gyros are healthy
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if (!ins.get_gyro_health_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
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}
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return false;
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}
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// check all gyros are consistent
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if (ins.get_gyro_count() > 1) {
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for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
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// get rotation rate difference between gyro #i and primary gyro
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Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
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if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros");
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}
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return false;
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}
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}
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}
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// get ekf attitude (if bad, it's usually the gyro biases)
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if (!pre_arm_ekf_attitude_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
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}
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return false;
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}
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}
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#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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// check board voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
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if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
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}
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return false;
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}
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}
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#endif
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#endif
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// check battery voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
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if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
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}
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return false;
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}
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}
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// check various parameter values
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
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// ensure ch7 and ch8 have different functions
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if (check_duplicate_auxsw()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
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}
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return false;
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}
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// failsafe parameter checks
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if (g.failsafe_throttle) {
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// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
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if (channel_throttle->get_radio_min() <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
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}
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return false;
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}
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}
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// lean angle parameter check
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if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
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}
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return false;
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}
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// acro balance parameter check
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if ((g.acro_balance_roll > attitude_control.get_angle_roll_p().kP()) || (g.acro_balance_pitch > attitude_control.get_angle_pitch_p().kP())) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
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}
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return false;
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}
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#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
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// check range finder if optflow enabled
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if (optflow.enabled() && !rangefinder.pre_arm_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
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}
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return false;
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}
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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// check helicopter parameters
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if (!motors.parameter_check(display_failure)) {
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return false;
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}
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#endif // HELI_FRAME
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// check for missing terrain data
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if (!pre_arm_terrain_check(display_failure)) {
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return false;
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}
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// check adsb avoidance failsafe
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if (failsafe.adsb) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
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}
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return false;
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}
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}
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// check throttle is above failsafe throttle
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// this is near the bottom to allow other failures to be displayed before checking pilot throttle
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
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if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->get_radio_in() < g.failsafe_throttle_value) {
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if (display_failure) {
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#if FRAME_CONFIG == HELI_FRAME
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
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#else
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
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#endif
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}
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return false;
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}
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}
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return true;
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}
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// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
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void Copter::pre_arm_rc_checks()
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{
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// exit immediately if we've already successfully performed the pre-arm rc check
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if (ap.pre_arm_rc_check) {
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return;
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}
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// set rc-checks to success if RC checks are disabled
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if ((g.arming_check != ARMING_CHECK_ALL) && !(g.arming_check & ARMING_CHECK_RC)) {
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set_pre_arm_rc_check(true);
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return;
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}
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// check if radio has been calibrated
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if (!channel_throttle->min_max_configured()) {
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return;
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}
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// check channels 1 & 2 have min <= 1300 and max >= 1700
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if (channel_roll->get_radio_min() > 1300 || channel_roll->get_radio_max() < 1700 || channel_pitch->get_radio_min() > 1300 || channel_pitch->get_radio_max() < 1700) {
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return;
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}
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// check channels 3 & 4 have min <= 1300 and max >= 1700
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if (channel_throttle->get_radio_min() > 1300 || channel_throttle->get_radio_max() < 1700 || channel_yaw->get_radio_min() > 1300 || channel_yaw->get_radio_max() < 1700) {
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return;
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}
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// check channels 1 & 2 have trim >= 1300 and <= 1700
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if (channel_roll->get_radio_trim() < 1300 || channel_roll->get_radio_trim() > 1700 || channel_pitch->get_radio_trim() < 1300 || channel_pitch->get_radio_trim() > 1700) {
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return;
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}
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// check channel 4 has trim >= 1300 and <= 1700
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if (channel_yaw->get_radio_trim() < 1300 || channel_yaw->get_radio_trim() > 1700) {
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return;
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}
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// if we've gotten this far rc is ok
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set_pre_arm_rc_check(true);
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}
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// performs pre_arm gps related checks and returns true if passed
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bool Copter::pre_arm_gps_checks(bool display_failure)
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{
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// always check if inertial nav has started and is ready
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if (!ahrs.healthy()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
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}
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return false;
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}
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// check if flight mode requires GPS
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bool gps_required = mode_requires_GPS(control_mode);
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#if AC_FENCE == ENABLED
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// if circular fence is enabled we need GPS
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if ((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) {
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gps_required = true;
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}
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#endif
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// return true if GPS is not required
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if (!gps_required) {
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AP_Notify::flags.pre_arm_gps_check = true;
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return true;
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}
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// ensure GPS is ok
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if (!position_ok()) {
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if (display_failure) {
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const char *reason = ahrs.prearm_failure_reason();
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if (reason) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
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} else {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
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}
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}
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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}
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// check EKF compass variance is below failsafe threshold
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float vel_variance, pos_variance, hgt_variance, tas_variance;
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Vector3f mag_variance;
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Vector2f offset;
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ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
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if (mag_variance.length() >= g.fs_ekf_thresh) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance");
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}
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return false;
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}
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// check home and EKF origin are not too far
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if (far_from_EKF_origin(ahrs.get_home())) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance");
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}
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AP_Notify::flags.pre_arm_gps_check = false;
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return false;
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}
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// return true immediately if gps check is disabled
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if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) {
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AP_Notify::flags.pre_arm_gps_check = true;
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return true;
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}
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|
// warn about hdop separately - to prevent user confusion with no gps lock
|
|
if (gps.get_hdop() > g.gps_hdop_good) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
|
|
}
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
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 Copter::pre_arm_ekf_attitude_check()
|
|
{
|
|
// get ekf filter status
|
|
nav_filter_status filt_status = inertial_nav.get_filter_status();
|
|
|
|
return filt_status.flags.attitude;
|
|
}
|
|
|
|
// check we have required terrain data
|
|
bool Copter::pre_arm_terrain_check(bool display_failure)
|
|
{
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
// succeed if not using terrain data
|
|
if (!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 ((rangefinder.num_sensors() > 0) && (g.rtl_altitude > rangefinder.max_distance_cm())) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RTL_ALT above rangefinder max range");
|
|
return false;
|
|
}
|
|
|
|
// show terrain statistics
|
|
uint16_t terr_pending, terr_loaded;
|
|
terrain.get_statistics(terr_pending, terr_loaded);
|
|
bool have_all_data = (terr_pending <= 0);
|
|
if (!have_all_data && display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data");
|
|
}
|
|
return have_all_data;
|
|
#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 Copter::arm_checks(bool display_failure, bool arming_from_gcs)
|
|
{
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// start dataflash
|
|
start_logging();
|
|
#endif
|
|
|
|
// check accels and gyro are healthy
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
|
|
//check if accelerometers have calibrated and require reboot
|
|
if (ins.accel_cal_requires_reboot()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
if (!ins.get_accel_health_all()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
if (!ins.get_gyro_health_all()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
// get ekf attitude (if bad, it's usually the gyro biases)
|
|
if (!pre_arm_ekf_attitude_check()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// always check if inertial nav has started and is ready
|
|
if (!ahrs.healthy()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
if (compass.is_calibrating()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
//check if compass has calibrated and requires reboot
|
|
if (compass.compass_cal_requires_reboot()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// always check if the current mode allows arming
|
|
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// always check gps
|
|
if (!pre_arm_gps_checks(display_failure)) {
|
|
return false;
|
|
}
|
|
|
|
// if we are using motor interlock switch and it's enabled, fail to arm
|
|
if (ap.using_interlock && motors.get_interlock()){
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled");
|
|
return false;
|
|
}
|
|
|
|
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
|
|
// can run normally
|
|
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
|
|
set_motor_emergency_stop(false);
|
|
// if we are using motor Estop switch, it must not be in Estop position
|
|
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
|
|
return false;
|
|
}
|
|
|
|
// succeed if arming checks are disabled
|
|
if (g.arming_check == ARMING_CHECK_NONE) {
|
|
return true;
|
|
}
|
|
|
|
// baro checks
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
|
|
// baro health check
|
|
if (!barometer.all_healthy()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
// 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 = 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 && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
#if AC_FENCE == ENABLED
|
|
// check vehicle is within fence
|
|
if (!fence.pre_arm_check()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence");
|
|
}
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
// check lean angle
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
|
|
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check battery voltage
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
|
|
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check for missing terrain data
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
|
|
if (!pre_arm_terrain_check(display_failure)) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check adsb
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
|
|
if (failsafe.adsb) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check throttle
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
|
|
// check throttle is not too low - must be above failsafe throttle
|
|
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->get_radio_in() < g.failsafe_throttle_value) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// check throttle is not too high - skips checks if arming from GCS in Guided
|
|
if (!(arming_from_gcs && control_mode == GUIDED)) {
|
|
// above top of deadband is too always high
|
|
if (channel_throttle->get_control_in() > get_takeoff_trigger_throttle()) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
// in manual modes throttle must be at zero
|
|
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->get_control_in() > 0) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
// check if safety switch has been pushed
|
|
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// if we've gotten this far all is ok
|
|
return true;
|
|
}
|