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AP_Arming: move estop pre-arm to AP_Arming and add exception

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Henry Wurzburg 2023-04-10 07:08:01 -05:00 committed by Andrew Tridgell
parent 4785c248c5
commit c36c042e71
2 changed files with 24 additions and 1 deletions
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23
libraries/AP_Arming/AP_Arming.cpp
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@ -1466,6 +1466,26 @@ bool AP_Arming::serial_protocol_checks(bool display_failure)
return true; return true;
} }
//Check for estop
bool AP_Arming::estop_checks(bool display_failure)
{
if (!SRV_Channels::get_emergency_stop()) {
// not emergency-stopped, so no prearm failure:
return true;
}
// vehicle is emergency-stopped; if this *appears* to have been done via switch then we do not fail prearms:
const RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP);
if (chan != nullptr) {
// an RC channel is configured for arm_emergency_stop option, so estop maybe activated via this switch
if (chan->get_aux_switch_pos() == RC_Channel::AuxSwitchPos::LOW) {
// switch is configured and is in estop position, so likely the reason we are estopped, so no prearm failure
return true; // no prearm failure
}
}
check_failed(display_failure,"Motors Emergency Stopped");
return false;
}
bool AP_Arming::pre_arm_checks(bool report) bool AP_Arming::pre_arm_checks(bool report)
{ {
#if !APM_BUILD_COPTER_OR_HELI #if !APM_BUILD_COPTER_OR_HELI
@ -1507,7 +1527,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& disarm_switch_checks(report) & disarm_switch_checks(report)
& fence_checks(report) & fence_checks(report)
& opendroneid_checks(report) & opendroneid_checks(report)
& serial_protocol_checks(report); & serial_protocol_checks(report)
& estop_checks(report);
} }
bool AP_Arming::arm_checks(AP_Arming::Method method) bool AP_Arming::arm_checks(AP_Arming::Method method)

2
libraries/AP_Arming/AP_Arming.h
View File

@ -213,6 +213,8 @@ protected:
bool opendroneid_checks(bool display_failure); bool opendroneid_checks(bool display_failure);
bool serial_protocol_checks(bool display_failure); bool serial_protocol_checks(bool display_failure);
bool estop_checks(bool display_failure);
virtual bool system_checks(bool report); virtual bool system_checks(bool report);