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Copter: Add GCS failsafe pre-arm check

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Matt Lawrence 2020-01-15 17:30:46 -05:00 committed by Randy Mackay
parent 83e05303be
commit 9cc192f36c
2 changed files with 12 additions and 1 deletions
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12
ArduCopter/AP_Arming.cpp
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@ -56,7 +56,8 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
& parameter_checks(display_failure) & parameter_checks(display_failure)
& motor_checks(display_failure) & motor_checks(display_failure)
& pilot_throttle_checks(display_failure) & pilot_throttle_checks(display_failure)
& oa_checks(display_failure) & & oa_checks(display_failure)
& gcs_failsafe_check(display_failure) &
AP_Arming::pre_arm_checks(display_failure); AP_Arming::pre_arm_checks(display_failure);
} }
@ -525,6 +526,15 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
return true; return true;
} }
// Check GCS failsafe
bool AP_Arming_Copter::gcs_failsafe_check(bool display_failure)
{
if (copter.failsafe.gcs) {
check_failed(display_failure, "GCS failsafe on");
return false;
}
return true;
}
// arm_checks - perform final checks before arming // arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm // always called just before arming. Return true if ok to arm

1
ArduCopter/AP_Arming.h
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@ -50,6 +50,7 @@ protected:
bool pilot_throttle_checks(bool display_failure); bool pilot_throttle_checks(bool display_failure);
bool oa_checks(bool display_failure); bool oa_checks(bool display_failure);
bool mandatory_gps_checks(bool display_failure); bool mandatory_gps_checks(bool display_failure);
bool gcs_failsafe_check(bool display_failure);
void set_pre_arm_check(bool b); void set_pre_arm_check(bool b);