mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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additional arming checks for plane
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*/
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#include "Plane.h"
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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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if (plane.g.roll_limit_cd < 300) {
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if (report) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: LIM_ROLL_CD too small"));
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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_P(SEVERITY_HIGH,PSTR("PreArm: LIM_PITCH_MAX too small"));
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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_P(SEVERITY_HIGH,PSTR("PreArm: LIM_PITCH_MIN too large"));
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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->radio_max) {
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if (report) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("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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return ret;
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}
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