ardupilot/ArduSub/AP_Arming_Sub.cpp

54 lines
1.3 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 display_failure)
{
const RC_Channel *channels[] = {
sub.channel_roll,
sub.channel_pitch,
sub.channel_throttle,
sub.channel_yaw
};
return rc_checks_copter_sub(display_failure, channels, false /* check_min_max */);
}
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;
}