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Rover: pre-arm check that WP_SPEED is positive

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This commit is contained in:
Randy Mackay 2019-09-18 10:29:25 +09:00
parent de3c9340cb
commit 7c2c6dbab3
2 changed files with 22 additions and 1 deletions
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21
APMrover2/AP_Arming.cpp
View File

@ -85,7 +85,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
return (AP_Arming::pre_arm_checks(report)
& rover.g2.motors.pre_arm_check(report)
& fence_checks(report)
& oa_check(report));
& oa_check(report)
& parameter_checks(report));
}
bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@ -176,3 +177,21 @@ bool AP_Arming_Rover::oa_check(bool report)
}
return false;
}
// perform parameter checks
bool AP_Arming_Rover::parameter_checks(bool report)
{
// success if parameter checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_PARAMETERS)) {
return true;
}
// check waypoint speed is positive
if (!is_positive(rover.g2.wp_nav.get_default_speed())) {
check_failed(ARMING_CHECK_PARAMETERS, report, "WP_SPEED too low");
return false;
}
return true;
}

2
APMrover2/AP_Arming.h
View File

@ -27,7 +27,9 @@ public:
void update_soft_armed();
protected:
// the following check functions do not call into AP_Arming
bool oa_check(bool report);
bool parameter_checks(bool report);
private: