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AP_Arming: added IOMCU health check

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This commit is contained in:
Andrew Tridgell 2018-10-31 11:05:45 +11:00
parent 38eed4ba84
commit 8d5b9521ad
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_Arming/AP_Arming.cpp
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@ -79,6 +79,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
AP_Arming::AP_Arming() AP_Arming::AP_Arming()
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -508,6 +513,13 @@ bool AP_Arming::servo_checks(bool report) const
} }
} }
#if HAL_WITH_IO_MCU
if (!iomcu.healthy()) {
check_failed(ARMING_CHECK_NONE, report, "IOMCU is unhealthy");
check_passed = false;
}
#endif
return check_passed; return check_passed;
} }