ardupilot/ArduSub/AP_Arming_Sub.cpp

80 lines
2.4 KiB
C++

#include "AP_Arming_Sub.h"
#include "Sub.h"
enum HomeState AP_Arming_Sub::home_status() const
{
return sub.ap.home_state;
}
bool AP_Arming_Sub::rc_check(bool report)
{
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
return true;
}
static const char* message_fail = "PreArm: Check RC min/max parameters";
bool ret = true;
// check channels 1 & 2 have min <= 1300 and max >= 1700
if (sub.channel_roll->get_radio_min() > 1300 || sub.channel_roll->get_radio_max() < 1700 || sub.channel_pitch->get_radio_min() > 1300 || sub.channel_pitch->get_radio_max() < 1700) {
ret = false;
}
// check channels 3 & 4 have min <= 1300 and max >= 1700
if (sub.channel_throttle->get_radio_min() > 1300 || sub.channel_throttle->get_radio_max() < 1700 || sub.channel_yaw->get_radio_min() > 1300 || sub.channel_yaw->get_radio_max() < 1700) {
ret = false;
}
// check channels 1 & 2 have trim >= 1300 and <= 1700
if (sub.channel_roll->get_radio_trim() < 1300 || sub.channel_roll->get_radio_trim() > 1700 || sub.channel_pitch->get_radio_trim() < 1300 || sub.channel_pitch->get_radio_trim() > 1700) {
ret = false;
}
// check channel 4 has trim >= 1300 and <= 1700
if (sub.channel_yaw->get_radio_trim() < 1300 || sub.channel_yaw->get_radio_trim() > 1700) {
ret = false;
}
if (report && !ret) {
gcs().send_text(MAV_SEVERITY_CRITICAL, message_fail);
}
return ret;
}
bool AP_Arming_Sub::pre_arm_checks(bool report)
{
if (armed) {
return true;
}
return AP_Arming::pre_arm_checks(report) & rc_check(report) & ins_checks(report);
}
bool AP_Arming_Sub::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;
}