mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
#include "AP_Arming.h"
|
|
#include "Rover.h"
|
|
|
|
enum HomeState AP_Arming_Rover::home_status() const
|
|
{
|
|
return rover.home_is_set;
|
|
}
|
|
|
|
// perform pre_arm_rc_checks checks
|
|
bool AP_Arming_Rover::pre_arm_rc_checks(const bool display_failure)
|
|
{
|
|
// 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;
|
|
}
|
|
|
|
const RC_Channel *channels[] = {
|
|
rover.channel_steer,
|
|
rover.channel_throttle,
|
|
};
|
|
const char *channel_names[] = {"Steer", "Throttle"};
|
|
|
|
for (uint8_t i= 0 ; i < ARRAY_SIZE(channels); i++) {
|
|
const RC_Channel *channel = channels[i];
|
|
const char *channel_name = channel_names[i];
|
|
// check if radio has been calibrated
|
|
if (!channel->min_max_configured()) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC %s not configured", channel_name);
|
|
}
|
|
return false;
|
|
}
|
|
if (channel->get_radio_min() > 1300) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio min too high", channel_name);
|
|
}
|
|
return false;
|
|
}
|
|
if (channel->get_radio_max() < 1700) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio max too low", channel_name);
|
|
}
|
|
return false;
|
|
}
|
|
if (channel->get_radio_trim() < channel->get_radio_min()) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim below min", channel_name);
|
|
}
|
|
return false;
|
|
}
|
|
if (channel->get_radio_trim() > channel->get_radio_max()) {
|
|
if (display_failure) {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s radio trim above max", channel_name);
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|