mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.9 KiB
C++
136 lines
3.9 KiB
C++
/*
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additional arming checks for plane
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*/
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#include "AP_Arming.h"
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#include "Plane.h"
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const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_Arming, 0),
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// @Param: RUDDER
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// @DisplayName: Rudder Arming
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// @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 +- deadzone (RCx_DZ)
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// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
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// @User: Advanced
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AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
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AP_GROUPEND
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};
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enum HomeState AP_Arming_Plane::home_status() const
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{
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return plane.home_is_set;
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}
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/*
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additional arming checks for plane
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*/
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bool AP_Arming_Plane::pre_arm_checks(bool report)
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{
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// call parent class checks
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bool ret = AP_Arming::pre_arm_checks(report);
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// Check airspeed sensor
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ret &= AP_Arming::airspeed_checks(report);
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if (plane.g.long_fs_timeout < plane.g.short_fs_timeout) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");
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}
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ret = false;
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}
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if (plane.aparm.roll_limit_cd < 300) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd);
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}
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ret = false;
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}
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if (plane.aparm.pitch_limit_max_cd < 300) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd);
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}
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ret = false;
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}
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if (plane.aparm.pitch_limit_min_cd > -300) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd);
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}
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ret = false;
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}
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if (plane.channel_throttle->get_reverse() &&
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plane.g.throttle_fs_enabled &&
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plane.g.throttle_fs_value <
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plane.channel_throttle->get_radio_max()) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Invalid THR_FS_VALUE for rev throttle");
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}
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ret = false;
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}
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if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
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}
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ret = false;
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}
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if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: No mission loaded");
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}
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ret = false;
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}
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// check adsb avoidance failsafe
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if (plane.failsafe.adsb) {
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if (report) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
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}
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ret = false;
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}
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#if HAVE_PX4_MIXER
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if (plane.last_mixer_crc == -1) {
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if (report) {
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// if you ever get this error, a reboot is recommended.
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Mixer error");
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}
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ret = false;
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}
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#endif // CONFIG_HAL_BOARD
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return ret;
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}
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bool AP_Arming_Plane::ins_checks(bool report)
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{
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// call parent class checks
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if (!AP_Arming::ins_checks(report)) {
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return false;
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}
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// additional plane specific checks
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if ((checks_to_perform & ARMING_CHECK_ALL) ||
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(checks_to_perform & ARMING_CHECK_INS)) {
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if (!ahrs.healthy()) {
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if (report) {
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const char *reason = ahrs.prearm_failure_reason();
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if (reason) {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
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} else {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: AHRS not healthy");
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}
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}
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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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