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Copter: make rc-in-failsafe checks a prearm check rather than an at-arm check

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Peter Barker 2022-08-04 13:06:53 +10:00 committed by Randy Mackay
parent 1e3f37908c
commit cb9f376638
1 changed files with 7 additions and 4 deletions
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11
ArduCopter/AP_Arming.cpp
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@ -56,6 +56,7 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
& oa_checks(display_failure) & oa_checks(display_failure)
& gcs_failsafe_check(display_failure) & gcs_failsafe_check(display_failure)
& winch_checks(display_failure) & winch_checks(display_failure)
& rc_throttle_failsafe_checks(display_failure)
& alt_checks(display_failure) & alt_checks(display_failure)
#if AP_AIRSPEED_ENABLED #if AP_AIRSPEED_ENABLED
& AP_Arming::airspeed_checks(display_failure) & AP_Arming::airspeed_checks(display_failure)
@ -65,6 +66,12 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
bool AP_Arming_Copter::rc_throttle_failsafe_checks(bool display_failure) const bool AP_Arming_Copter::rc_throttle_failsafe_checks(bool display_failure) const
{ {
if ((checks_to_perform != ARMING_CHECK_ALL) &&
(checks_to_perform & ARMING_CHECK_RC) == 0) {
// this check has been disabled
return true;
}
// throttle failsafe. In this case the parameter also gates the // throttle failsafe. In this case the parameter also gates the
// no-pulses RC failure case - the radio-in value can be zero due // no-pulses RC failure case - the radio-in value can be zero due
// to not having received any RC pulses at all. Note that if we // to not having received any RC pulses at all. Note that if we
@ -625,10 +632,6 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// check throttle // check throttle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) { if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
if (!rc_throttle_failsafe_checks(true)) {
return false;
}
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
const char *rc_item = "Collective"; const char *rc_item = "Collective";
#else #else