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Copter: option to force arm, bypassing checks

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This commit is contained in:
Peter Barker 2016-09-26 23:03:18 +10:00
parent f5e241af01
commit fd9ce90b8e
3 changed files with 5 additions and 4 deletions
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2
ArduCopter/Copter.h
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@ -834,7 +834,7 @@ private:
// motors.cpp // motors.cpp
void arm_motors_check(); void arm_motors_check();
void auto_disarm_check(); void auto_disarm_check();
bool init_arm_motors(bool arming_from_gcs); bool init_arm_motors(bool arming_from_gcs, bool do_arming_checks=true);
void init_disarm_motors(); void init_disarm_motors();
void motors_output(); void motors_output();
void lost_vehicle_check(); void lost_vehicle_check();

3
ArduCopter/GCS_Mavlink.cpp
View File

@ -961,7 +961,8 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAV_CMD_COMPONENT_ARM_DISARM: case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
// attempt to arm and return success or failure // attempt to arm and return success or failure
if (copter.init_arm_motors(true)) { const bool do_arming_checks = !is_equal(packet.param2,2989.0f);
if (copter.init_arm_motors(true, do_arming_checks)) {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
} else if (is_zero(packet.param1)) { } else if (is_zero(packet.param1)) {

4
ArduCopter/motors.cpp
View File

@ -127,7 +127,7 @@ void Copter::auto_disarm_check()
// init_arm_motors - performs arming process including initialisation of barometer and gyros // init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure // returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(bool arming_from_gcs) bool Copter::init_arm_motors(const bool arming_from_gcs, const bool do_arming_checks)
{ {
static bool in_arm_motors = false; static bool in_arm_motors = false;
@ -144,7 +144,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
} }
// run pre-arm-checks and display failures // run pre-arm-checks and display failures
if (!arming.all_checks_passing(arming_from_gcs)) { if (do_arming_checks && !arming.all_checks_passing(arming_from_gcs)) {
AP_Notify::events.arming_failed = true; AP_Notify::events.arming_failed = true;
in_arm_motors = false; in_arm_motors = false;
return false; return false;