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Copter: continuously run pre-arm checks

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Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
This commit is contained in:
Peter Barker 2017-09-04 12:10:14 +10:00 committed by Randy Mackay
parent 76a6649a2d
commit 7b3e111f85
1 changed files with 5 additions and 22 deletions
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27
ArduCopter/AP_Arming.cpp
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@ -12,24 +12,18 @@ void AP_Arming_Copter::update(void)
pre_arm_display_counter = 0;
}
if (pre_arm_checks(display_fail)) {
set_pre_arm_check(true);
}
set_pre_arm_check(pre_arm_checks(display_fail));
}
// performs pre-arm checks and arming checks
bool AP_Arming_Copter::all_checks_passing(bool arming_from_gcs)
{
if (pre_arm_checks(true)) {
set_pre_arm_check(true);
} else {
return false;
}
set_pre_arm_check(pre_arm_checks(true));
return copter.ap.pre_arm_check && arm_checks(true, arming_from_gcs);
}
// perform pre-arm checks and set ap.pre_arm_check flag
// perform pre-arm checks
// return true if the checks pass successfully
// NOTE: this does *NOT* call AP_Arming::pre_arm_checks() yet!
bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
@ -59,17 +53,8 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (copter.ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if (checks_to_perform == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
return true;
}
@ -748,8 +733,6 @@ enum HomeState AP_Arming_Copter::home_status() const
void AP_Arming_Copter::set_pre_arm_check(bool b)
{
if(copter.ap.pre_arm_check != b) {
copter.ap.pre_arm_check = b;
AP_Notify::flags.pre_arm_check = b;
}
copter.ap.pre_arm_check = b;
AP_Notify::flags.pre_arm_check = b;
}