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Copter: move Disarm/EStop/Interlock check from arm_checks to run_pre_arm_checks

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This commit is contained in:
Tatsuya Yamaguchi 2022-04-26 15:43:21 +09:00 committed by Randy Mackay
parent 073683cc69
commit a4d3607de1
1 changed files with 12 additions and 15 deletions
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27
ArduCopter/AP_Arming.cpp
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@ -46,10 +46,20 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
// otherwise exit immediately.
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(display_failure, "Motor Interlock Enabled");
return false;
}
// if we are using motor Estop switch, it must not be in Estop position
if (SRV_Channels::get_emergency_stop()){
check_failed(display_failure, "Motor Emergency Stopped");
return false;
}
if (!disarm_switch_checks(display_failure)) {
return false;
}
// if pre arm checks are disabled run only the mandatory checks
@ -636,19 +646,6 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
return false;
}
// if we are using motor interlock switch and it's enabled, fail to arm
// skip check in Throw mode which takes control of the motor interlock
if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) {
check_failed(true, "Motor Interlock Enabled");
return false;
}
// if we are using motor Estop switch, it must not be in Estop position
if (SRV_Channels::get_emergency_stop()){
check_failed(true, "Motor Emergency Stopped");
return false;
}
// succeed if arming checks are disabled
if (checks_to_perform == 0) {
return true;