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AP_MotorsHeli: Add more parameter checks

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Robert Lefebvre 2015-08-10 17:29:17 -04:00 committed by Randy Mackay
parent fa24107a2a
commit f4ddedbffc
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -199,6 +199,21 @@ bool AP_MotorsHeli::parameter_check() const
return false; return false;
} }
// returns false if RSC Mode is not set to a valid control mode
if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_NONE || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_SETPOINT) {
return false;
}
// returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
if (_rsc_runup_time <= _rsc_ramp_time){
return false;
}
// returns false if Critical Rotor speed is not higher than Idle speed
if (_rsc_critical <= _rsc_idle){
return false;
}
// all other cases parameters are OK // all other cases parameters are OK
return true; return true;
} }