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AP_Arming: remove double PreArm: in battery prearm report

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Also use check_failed throughout
This commit is contained in:
Peter Barker 2018-08-26 09:26:48 +10:00 committed by Randy Mackay
parent da7fe1055a
commit f258a25138
1 changed files with 10 additions and 19 deletions
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29
libraries/AP_Arming/AP_Arming.cpp
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@ -389,9 +389,7 @@ bool AP_Arming::gps_checks(bool report)
if (AP::ahrs().get_position(ahrs_loc)) {
const float distance = location_diff(gps_loc, ahrs_loc).length();
if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS and AHRS differ by %4.1fm", (double)distance);
}
check_failed(ARMING_CHECK_GPS, report, "GPS and AHRS differ by %4.1fm", (double)distance);
return false;
}
}
@ -400,10 +398,11 @@ bool AP_Arming::gps_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
check_failed(ARMING_CHECK_GPS_CONFIG,
report,
"GPS %d failing configuration checks",
first_unconfigured + 1);
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
}
return false;
@ -427,7 +426,7 @@ bool AP_Arming::battery_checks(bool report)
for (uint8_t i = 0; i < _battery.num_instances(); i++) {
if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
check_failed(ARMING_CHECK_BATTERY, report, "PreArm: Battery %d voltage %.1f below minimum %.1f",
check_failed(ARMING_CHECK_BATTERY, report, "Battery %d voltage %.1f below minimum %.1f",
i+1,
(double)_battery.voltage(i),
(double)_min_voltage[i]);
@ -467,15 +466,11 @@ bool AP_Arming::rc_calibration_checks(bool report)
}
const uint16_t trim = ch->get_radio_trim();
if (ch->get_radio_min() > trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d minimum is greater than trim", i + 1);
}
check_failed(ARMING_CHECK_RC, report, "RC%d minimum is greater than trim", i + 1);
check_passed = false;
}
if (ch->get_radio_max() < trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d maximum is less than trim", i + 1);
}
check_failed(ARMING_CHECK_RC, report, "RC%d maximum is less than trim", i + 1);
check_passed = false;
}
}
@ -512,15 +507,11 @@ bool AP_Arming::servo_checks(bool report) const
const uint16_t trim = ch->get_trim();
if (ch->get_output_min() > trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: SERVO%d minimum is greater than trim", i + 1);
}
check_failed(ARMING_CHECK_NONE, report, "SERVO%d minimum is greater than trim", i + 1);
check_passed = false;
}
if (ch->get_output_max() < trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: SERVO%d maximum is less than trim", i + 1);
}
check_failed(ARMING_CHECK_NONE, report, "SERVO%d maximum is less than trim", i + 1);
check_passed = false;
}
}