mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.8 KiB
C++
92 lines
2.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
additional arming checks for plane
|
|
*/
|
|
#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
|
|
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
|
|
/*
|
|
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.roll_limit_cd < 300) {
|
|
if (report) {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.g.roll_limit_cd);
|
|
}
|
|
ret = false;
|
|
}
|
|
|
|
if (plane.aparm.pitch_limit_max_cd < 300) {
|
|
if (report) {
|
|
GCS_MAVLINK::send_statustext_all(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_MAVLINK::send_statustext_all(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->radio_max) {
|
|
if (report) {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: invalid THR_FS_VALUE for rev throttle");
|
|
}
|
|
ret = false;
|
|
}
|
|
|
|
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_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
|
|
} else {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|