aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Arming: display 'Arm: ' instead of 'PreArm: ' for arming failures

Browse Source 
Before this patch we would display PreArm: even if the checks were being performed as part of the arming sequence.

This lets us distinguish betwee checks failing because the user is trying to arm the vehicle and when the prearms are running while disarmed (or triggered via GCS)
This commit is contained in:
Peter Barker 2022-08-03 15:15:43 +10:00 committed by Andrew Tridgell
parent 8b02f11c23
commit f5a8561fde
2 changed files with 25 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_Arming/AP_Arming.cpp
View File

@ -215,7 +215,16 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
return;
}
char taggedfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
// metafmt is wrapped around the passed-in format string to
// prepend "PreArm" or "Arm", depending on what sorts of checks
// we're currently doing.
const char *metafmt = "PreArm: %s"; // it's formats all the way down
if (running_arming_checks) {
metafmt = "Arm: %s";
}
hal.util->snprintf(taggedfmt, sizeof(taggedfmt), metafmt, fmt);
MAV_SEVERITY severity = check_severity(check);
va_list arg_list;
va_start(arg_list, fmt);
@ -229,7 +238,16 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
return;
}
char taggedfmt[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
hal.util->snprintf(taggedfmt, sizeof(taggedfmt), "PreArm: %s", fmt);
// metafmt is wrapped around the passed-in format string to
// prepend "PreArm" or "Arm", depending on what sorts of checks
// we're currently doing.
const char *metafmt = "PreArm: %s"; // it's formats all the way down
if (running_arming_checks) {
metafmt = "Arm: %s";
}
hal.util->snprintf(taggedfmt, sizeof(taggedfmt), metafmt, fmt);
va_list arg_list;
va_start(arg_list, fmt);
gcs().send_textv(MAV_SEVERITY_CRITICAL, taggedfmt, arg_list);
@ -1426,6 +1444,8 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
return false;
}
running_arming_checks = true; // so we show Arm: rather than Disarm: in messages
if ((!do_arming_checks && mandatory_checks(true)) || (pre_arm_checks(true) && arm_checks(method))) {
armed = true;
@ -1436,6 +1456,8 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
armed = false;
}
running_arming_checks = false;
if (armed && do_arming_checks && checks_to_perform == 0) {
gcs().send_text(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
}

1
libraries/AP_Arming/AP_Arming.h
View File

@ -261,6 +261,7 @@ private:
Method _last_disarm_method = Method::UNKNOWN;
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
};
namespace AP {