mirror of https://github.com/ArduPilot/ardupilot
707 lines
26 KiB
C++
707 lines
26 KiB
C++
#include "Copter.h"
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// performs pre-arm checks. expects to be called at 1hz.
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void AP_Arming_Copter::update(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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set_pre_arm_check(pre_arm_checks(display_fail));
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}
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// performs pre-arm checks and arming checks
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bool AP_Arming_Copter::all_checks_passing(bool arming_from_gcs)
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{
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set_pre_arm_check(pre_arm_checks(true));
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return copter.ap.pre_arm_check && arm_checks(true, arming_from_gcs);
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}
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// perform pre-arm checks
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// return true if the checks pass successfully
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bool AP_Arming_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 (copter.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 (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && copter.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 (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
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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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}
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// succeed if pre arm checks are disabled
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if (checks_to_perform == ARMING_CHECK_NONE) {
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return true;
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}
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return fence_checks(display_failure)
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& parameter_checks(display_failure)
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& motor_checks(display_failure)
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& pilot_throttle_checks(display_failure) &
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AP_Arming::pre_arm_checks(display_failure);
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}
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bool AP_Arming_Copter::barometer_checks(bool display_failure)
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{
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if (!AP_Arming::barometer_checks(display_failure)) {
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return false;
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}
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bool ret = true;
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// check Baro
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) {
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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 = _inav.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(_inav.get_altitude() - copter.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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ret = false;
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}
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}
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}
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return ret;
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}
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bool AP_Arming_Copter::compass_checks(bool display_failure)
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{
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bool ret = AP_Arming::compass_checks(display_failure);
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) {
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// check compass offsets have been set. AP_Arming only checks
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// this if learning is off; Copter *always* checks.
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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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ret = false;
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}
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}
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return ret;
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}
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bool AP_Arming_Copter::fence_checks(bool display_failure)
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{
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#if AC_FENCE == ENABLED
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// check fence is initialised
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const char *fail_msg = nullptr;
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if (!copter.fence.pre_arm_check(fail_msg)) {
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if (display_failure && fail_msg != nullptr) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg);
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}
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return false;
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}
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#endif
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return true;
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}
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bool AP_Arming_Copter::ins_checks(bool display_failure)
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{
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bool ret = AP_Arming::ins_checks(display_failure);
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
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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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ret = false;
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}
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}
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return ret;
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}
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bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
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{
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if (!AP_Arming::board_voltage_checks(display_failure)) {
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return false;
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}
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Parameters &g = copter.g;
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// check battery voltage
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
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if (copter.failsafe.battery) {
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if (display_failure) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Battery failsafe");
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}
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return false;
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}
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// all following checks are skipped if USB is connected
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if (copter.ap.usb_connected) {
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return true;
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}
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// check if battery is exhausted
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if (copter.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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// call parent battery checks
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if (!AP_Arming::battery_checks(display_failure)) {
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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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bool AP_Arming_Copter::parameter_checks(bool display_failure)
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{
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// check various parameter values
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
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// ensure ch7 and ch8 have different functions
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if (copter.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 (copter.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 (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.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 (copter.aparm.angle_max < 1000 || copter.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 ((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())) {
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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 (copter.optflow.enabled() && !copter.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 (!copter.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 (copter.failsafe.adsb) {
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if (display_failure) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
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}
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return false;
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}
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// check for something close to vehicle
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if (!pre_arm_proximity_check(display_failure)) {
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return false;
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}
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// Check for 0 value PID's - some items can / should be 0 and as such are not checked.
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// If the ATC_RAT_*_FF is non zero then the corresponding ATC_RAT_* PIDS can be 0.
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if (is_zero(copter.g.p_pos_xy.kP())) {
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parameter_checks_pid_warning_message(display_failure, "POS_XY_P");
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return false;
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} else if (is_zero(copter.g.p_alt_hold.kP())) {
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parameter_checks_pid_warning_message(display_failure, "POS_Z_P");
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return false;
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} else if (is_zero(copter.g.p_vel_z.kP())) {
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parameter_checks_pid_warning_message(display_failure, "VEL_Z_P");
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return false;
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} else if (is_zero(copter.g.pid_accel_z.kP())) {
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parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_P");
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return false;
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} else if (is_zero(copter.g.pid_accel_z.kI())) {
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parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_I");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kP()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_P");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kI()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_I");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kD()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_D");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kP()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_P");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kI()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_I");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kD()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_D");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kP()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_P");
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return false;
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} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kI()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_I");
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return false;
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} else if (is_zero(copter.attitude_control->get_angle_pitch_p().kP())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_PIT_P");
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return false;
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} else if (is_zero(copter.attitude_control->get_angle_roll_p().kP())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_RLL_P");
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return false;
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} else if (is_zero(copter.attitude_control->get_angle_yaw_p().kP())) {
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_YAW_P");
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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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void AP_Arming_Copter::parameter_checks_pid_warning_message(bool display_failure, const char *error_msg)
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{
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if (display_failure) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check PIDs - %s", error_msg);
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}
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}
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// check motor setup was successful
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bool AP_Arming_Copter::motor_checks(bool display_failure)
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{
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// check motors initialised correctly
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if (!copter.motors->initialised_ok()) {
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if (display_failure) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check firmware or FRAME_CLASS");
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}
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return false;
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}
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return true;
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}
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bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
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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 ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
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if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.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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bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
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{
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const RC_Channel *channels[] = {
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copter.channel_roll,
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copter.channel_pitch,
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copter.channel_throttle,
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copter.channel_yaw
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};
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copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels)
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& AP_Arming::rc_calibration_checks(display_failure);
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return copter.ap.pre_arm_rc_check;
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}
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// performs pre_arm gps related checks and returns true if passed
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bool AP_Arming_Copter::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 mode_requires_gps = copter.flightmode->requires_GPS();
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// check if fence requires GPS
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bool fence_requires_gps = false;
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#if AC_FENCE == ENABLED
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// if circular or polygon fence is enabled we need GPS
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fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
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#endif
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// return true if GPS is not required
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if (!mode_requires_gps && !fence_requires_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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// ensure GPS is ok
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if (!copter.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().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
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} else {
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if (!mode_requires_gps && fence_requires_gps) {
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// clarify to user why they need GPS in non-GPS flight mode
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Fence enabled, need 3D Fix");
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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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}
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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 for GPS glitch (as reported by EKF)
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nav_filter_status filt_status;
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if (_ahrs_navekf.get_filter_status(filt_status)) {
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if (filt_status.flags.gps_glitching) {
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if (display_failure) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: GPS glitching");
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}
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return false;
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}
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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_navekf.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
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if (mag_variance.length() >= copter.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 (copter.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
|
|
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) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
|
|
}
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
return false;
|
|
}
|
|
|
|
// call parent gps checks
|
|
if (!AP_Arming::gps_checks(display_failure)) {
|
|
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 AP_Arming_Copter::pre_arm_ekf_attitude_check()
|
|
{
|
|
// get ekf filter status
|
|
nav_filter_status filt_status = _inav.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))) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: 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 && display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: 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) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: 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) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: 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, bool arming_from_gcs)
|
|
{
|
|
// 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;
|
|
}
|
|
|
|
// check compass health
|
|
if (!_compass.healthy()) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy");
|
|
}
|
|
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;
|
|
}
|
|
|
|
control_mode_t control_mode = copter.control_mode;
|
|
|
|
// always check if the current mode allows arming
|
|
if (!copter.flightmode->allows_arming(arming_from_gcs)) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: 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.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 (!copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
|
|
copter.set_motor_emergency_stop(false);
|
|
// if we are using motor Estop switch, it must not be in Estop position
|
|
} else if (copter.check_if_auxsw_mode_used(AUXSW_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) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check adsb
|
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
|
|
if (copter.failsafe.adsb) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check throttle
|
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
|
|
// 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) {
|
|
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 || 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) {
|
|
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 ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.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;
|
|
}
|
|
|
|
// 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(arming_from_gcs);
|
|
}
|
|
|
|
enum HomeState AP_Arming_Copter::home_status() const
|
|
{
|
|
return copter.ap.home_state;
|
|
}
|
|
|
|
void AP_Arming_Copter::set_pre_arm_check(bool b)
|
|
{
|
|
copter.ap.pre_arm_check = b;
|
|
AP_Notify::flags.pre_arm_check = b;
|
|
}
|