mirror of https://github.com/ArduPilot/ardupilot
433 lines
13 KiB
C++
433 lines
13 KiB
C++
#include "Blimp.h"
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// performs pre-arm checks. expects to be called at 1hz.
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void AP_Arming_Blimp::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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pre_arm_checks(display_fail);
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}
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bool AP_Arming_Blimp::pre_arm_checks(bool display_failure)
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{
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const bool passed = run_pre_arm_checks(display_failure);
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set_pre_arm_check(passed);
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return passed;
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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_Blimp::run_pre_arm_checks(bool display_failure)
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{
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// exit immediately if already armed
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if (blimp.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 (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
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rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)) {
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check_failed(display_failure, "Interlock/E-Stop Conflict");
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return false;
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}
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// if pre arm checks are disabled run only the mandatory checks
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if (checks_to_perform == 0) {
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return mandatory_checks(display_failure);
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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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& gcs_failsafe_check(display_failure)
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& alt_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_Blimp::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 = blimp.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(blimp.inertial_nav.get_position_z_up_cm() - blimp.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
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check_failed(ARMING_CHECK_BARO, display_failure, "Altitude disparity");
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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_Blimp::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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check_failed(ARMING_CHECK_INS, display_failure, "EKF attitude is bad");
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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_Blimp::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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// 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 (blimp.battery.has_failsafed()) {
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check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe");
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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_Blimp::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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// failsafe parameter checks
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if (blimp.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 (blimp.channel_down->get_radio_min() <= blimp.g.failsafe_throttle_value+10 || blimp.g.failsafe_throttle_value < 910) {
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check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE");
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return false;
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}
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}
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}
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return true;
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}
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// check motor setup was successful
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bool AP_Arming_Blimp::motor_checks(bool display_failure)
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{
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// check motors initialised correctly
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if (!blimp.motors->initialised_ok()) {
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check_failed(display_failure, "Check firmware or FRAME_CLASS");
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return false;
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}
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// further checks enabled with parameters
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if (!check_enabled(ARMING_CHECK_PARAMETERS)) {
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return true;
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}
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return true;
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}
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bool AP_Arming_Blimp::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 (blimp.g.failsafe_throttle != FS_THR_DISABLED && blimp.channel_down->get_radio_in() < blimp.g.failsafe_throttle_value) {
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const char *failmsg = "Throttle below Failsafe";
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check_failed(ARMING_CHECK_RC, display_failure, "%s", failmsg);
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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_Blimp::rc_calibration_checks(bool display_failure)
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{
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return 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 AP_Arming_Blimp::gps_checks(bool display_failure)
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{
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// run mandatory gps checks first
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if (!mandatory_gps_checks(display_failure)) {
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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 if flight mode requires GPS
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bool mode_requires_gps = blimp.flightmode->requires_GPS();
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// return true if GPS is not required
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if (!mode_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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// return true immediately if gps check is disabled
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if (!(checks_to_perform == ARMING_CHECK_ALL || checks_to_perform & 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
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if (blimp.gps.get_hdop() > blimp.g.gps_hdop_good) {
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check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP");
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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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// call parent gps checks
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if (!AP_Arming::gps_checks(display_failure)) {
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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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// if we got here all must be ok
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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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// check ekf attitude is acceptable
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bool AP_Arming_Blimp::pre_arm_ekf_attitude_check()
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{
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// get ekf filter status
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nav_filter_status filt_status = blimp.inertial_nav.get_filter_status();
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return filt_status.flags.attitude;
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}
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// performs mandatory gps checks. returns true if passed
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bool AP_Arming_Blimp::mandatory_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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const auto &ahrs = AP::ahrs();
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char failure_msg[50] = {};
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if (!ahrs.pre_arm_check(false, failure_msg, sizeof(failure_msg))) {
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check_failed(display_failure, "AHRS: %s", failure_msg);
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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 = blimp.flightmode->requires_GPS();
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if (mode_requires_gps) {
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if (!blimp.position_ok()) {
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// vehicle level position estimate checks
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check_failed(display_failure, "Need Position Estimate");
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return false;
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}
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} else {
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// return true if GPS is not required
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return true;
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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.get_filter_status(filt_status)) {
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if (filt_status.flags.gps_glitching) {
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check_failed(display_failure, "GPS glitching");
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return false;
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}
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}
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// if we got here all must be ok
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return true;
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}
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// Check GCS failsafe
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bool AP_Arming_Blimp::gcs_failsafe_check(bool display_failure)
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{
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if (blimp.failsafe.gcs) {
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check_failed(display_failure, "GCS failsafe on");
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return false;
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}
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return true;
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}
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// performs altitude checks. returns true if passed
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bool AP_Arming_Blimp::alt_checks(bool display_failure)
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{
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// always EKF altitude estimate
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if (!blimp.flightmode->has_manual_throttle() && !blimp.ekf_alt_ok()) {
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check_failed(display_failure, "Need Alt Estimate");
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return false;
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}
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return true;
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}
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// arm_checks - perform final checks before arming
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// always called just before arming. Return true if ok to arm
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// has side-effect that logging is started
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bool AP_Arming_Blimp::arm_checks(AP_Arming::Method method)
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{
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return AP_Arming::arm_checks(method);
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}
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// mandatory checks that will be run if ARMING_CHECK is zero or arming forced
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bool AP_Arming_Blimp::mandatory_checks(bool display_failure)
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{
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// call mandatory gps checks and update notify status because regular gps checks will not run
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bool result = mandatory_gps_checks(display_failure);
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AP_Notify::flags.pre_arm_gps_check = result;
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// call mandatory alt check
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if (!alt_checks(display_failure)) {
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result = false;
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}
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return result & AP_Arming::mandatory_checks(display_failure);
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}
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void AP_Arming_Blimp::set_pre_arm_check(bool b)
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{
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blimp.ap.pre_arm_check = b;
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AP_Notify::flags.pre_arm_check = b;
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}
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bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_checks)
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{
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static bool in_arm_motors = false;
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// exit immediately if already in this function
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if (in_arm_motors) {
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return false;
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}
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in_arm_motors = true;
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// return true if already armed
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if (blimp.motors->armed()) {
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in_arm_motors = false;
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return true;
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}
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if (!AP_Arming::arm(method, do_arming_checks)) {
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AP_Notify::events.arming_failed = true;
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in_arm_motors = false;
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return false;
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}
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// let logger know that we're armed (it may open logs e.g.)
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AP::logger().set_vehicle_armed(true);
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// notify that arming will occur (we do this early to give plenty of warning)
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AP_Notify::flags.armed = true;
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// call notify update a few times to ensure the message gets out
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for (uint8_t i=0; i<=10; i++) {
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AP::notify().update();
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Arming motors"); //MIR kept in - usually only in SITL
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auto &ahrs = AP::ahrs();
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blimp.initial_armed_bearing = ahrs.yaw_sensor;
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if (!ahrs.home_is_set()) {
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// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
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ahrs.resetHeightDatum();
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AP::logger().Write_Event(LogEvent::EKF_ALT_RESET);
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// we have reset height, so arming height is zero
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blimp.arming_altitude_m = 0;
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} else if (!ahrs.home_is_locked()) {
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// Reset home position if it has already been set before (but not locked)
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if (!blimp.set_home_to_current_location(false)) {
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// ignore failure
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}
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// remember the height when we armed
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blimp.arming_altitude_m = blimp.inertial_nav.get_position_z_up_cm() * 0.01;
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}
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hal.util->set_soft_armed(true);
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// finally actually arm the motors
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blimp.motors->armed(true);
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// log flight mode in case it was changed while vehicle was disarmed
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AP::logger().Write_Mode((uint8_t)blimp.control_mode, blimp.control_mode_reason);
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// perf monitor ignores delay due to arming
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AP::scheduler().perf_info.ignore_this_loop();
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// flag exiting this function
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in_arm_motors = false;
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// Log time stamp of arming event
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blimp.arm_time_ms = millis();
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// Start the arming delay
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blimp.ap.in_arming_delay = true;
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// return success
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return true;
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}
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// arming.disarm - disarm motors
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bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_checks)
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{
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// return immediately if we are already disarmed
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if (!blimp.motors->armed()) {
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return true;
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}
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if (!AP_Arming::disarm(method, do_disarm_checks)) {
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return false;
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors"); //MIR keeping in - usually only in SITL
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auto &ahrs = AP::ahrs();
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// save compass offsets learned by the EKF if enabled
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Compass &compass = AP::compass();
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if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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Vector3f magOffsets;
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if (ahrs.getMagOffsets(i, magOffsets)) {
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compass.set_and_save_offsets(i, magOffsets);
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}
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}
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}
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// send disarm command to motors
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blimp.motors->armed(false);
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AP::logger().set_vehicle_armed(false);
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hal.util->set_soft_armed(false);
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blimp.ap.in_arming_delay = false;
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return true;
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}
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