Jacob Walser
8 years ago
committed by
jaxxzer
12 changed files with 78 additions and 722 deletions
@ -1,657 +0,0 @@
@@ -1,657 +0,0 @@
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#include "Sub.h" |
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// performs pre-arm checks. expects to be called at 1hz.
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void Sub::update_arming_checks(void) |
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{ |
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// perform pre-arm checks & display failures every 30 seconds
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static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2; |
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pre_arm_display_counter++; |
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bool display_fail = false; |
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if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) { |
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display_fail = true; |
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pre_arm_display_counter = 0; |
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} |
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if (pre_arm_checks(display_fail)) { |
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set_pre_arm_check(true); |
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} |
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} |
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// performs pre-arm checks and arming checks
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bool Sub::all_arming_checks_passing(bool arming_from_gcs) |
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{ |
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL |
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if (failsafe.manual_control) { |
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gcs_send_text(MAV_SEVERITY_WARNING, "Arming requires manual control"); |
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return false; |
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} |
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#endif |
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if (pre_arm_checks(true)) { |
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set_pre_arm_check(true); |
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} |
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return ap.pre_arm_check && arm_checks(true, arming_from_gcs); |
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} |
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// perform pre-arm checks and set ap.pre_arm_check flag
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// return true if the checks pass successfully
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bool Sub::pre_arm_checks(bool display_failure) |
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{ |
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// exit immediately if already armed
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if (motors.armed()) { |
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return true; |
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} |
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// check if motor interlock and Emergency Stop aux switches are used
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// at the same time. This cannot be allowed.
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if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict"); |
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} |
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return false; |
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} |
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// check if motor interlock aux switch is in use
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// if it is, switch needs to be in disabled position to arm
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// otherwise exit immediately. This check to be repeated,
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// as state can change at any time.
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if (ap.using_interlock && motors.get_interlock()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled"); |
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} |
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return false; |
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} |
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// exit immediately if we've already successfully performed the pre-arm check
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if (ap.pre_arm_check) { |
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// run gps checks because results may change and affect LED colour
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// no need to display failures because arm_checks will do that if the pilot tries to arm
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pre_arm_gps_checks(false); |
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return true; |
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} |
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// succeed if pre arm checks are disabled
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if (g.arming_check == ARMING_CHECK_NONE) { |
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set_pre_arm_check(true); |
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set_pre_arm_rc_check(true); |
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return true; |
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} |
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// pre-arm rc checks a prerequisite
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pre_arm_rc_checks(); |
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if (!ap.pre_arm_rc_check) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated"); |
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} |
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return false; |
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} |
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// check Baro
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) { |
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// barometer health check
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if (!barometer.all_healthy()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy"); |
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} |
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return false; |
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} |
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// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
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// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
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// that may differ from the baro height due to baro drift.
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nav_filter_status filt_status = inertial_nav.get_filter_status(); |
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bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); |
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if (using_baro_ref) { |
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if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity"); |
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} |
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return false; |
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} |
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} |
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} |
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// check Compass
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) { |
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// check the primary compass is healthy
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if (!compass.healthy()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy"); |
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} |
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return false; |
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} |
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// check compass learning is on or offsets have been set
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if (!compass.configured()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated"); |
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} |
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return false; |
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} |
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// check for unreasonable compass offsets
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Vector3f offsets = compass.get_offsets(); |
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if (offsets.length() > COMPASS_OFFSETS_MAX) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high"); |
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} |
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return false; |
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} |
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// check for unreasonable mag field length
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float mag_field = compass.get_field().length(); |
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if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field"); |
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} |
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return false; |
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} |
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// check all compasses point in roughly same direction
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if (!compass.consistent()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses"); |
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} |
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return false; |
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} |
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} |
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// check GPS
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if (!pre_arm_gps_checks(display_failure)) { |
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return false; |
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} |
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#if AC_FENCE == ENABLED |
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// check fence is initialised
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if (!fence.pre_arm_check()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence"); |
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} |
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return false; |
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} |
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#endif |
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// check INS
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) { |
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// check accelerometers have been calibrated
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if (!ins.accel_calibrated_ok_all()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated"); |
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} |
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return false; |
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} |
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// check accels are healthy
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if (!ins.get_accel_health_all()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy"); |
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} |
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return false; |
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} |
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//check if accelerometers have calibrated and require reboot
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if (ins.accel_cal_requires_reboot()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot"); |
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} |
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return false; |
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} |
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// check all accelerometers point in roughly same direction
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if (ins.get_accel_count() > 1) { |
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const Vector3f &prime_accel_vec = ins.get_accel(); |
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for (uint8_t i=0; i<ins.get_accel_count(); i++) { |
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// get next accel vector
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const Vector3f &accel_vec = ins.get_accel(i); |
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Vector3f vec_diff = accel_vec - prime_accel_vec; |
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float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF; |
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if (i >= 2) { |
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/*
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* for boards with 3 IMUs we only use the first two |
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* in the EKF. Allow for larger accel discrepancy |
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* for IMU3 as it may be running at a different temperature |
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*/ |
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threshold *= 2; |
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} |
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if (vec_diff.length() > threshold) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers"); |
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} |
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return false; |
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} |
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} |
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} |
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// check gyros are healthy
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if (!ins.get_gyro_health_all()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy"); |
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} |
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return false; |
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} |
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// check all gyros are consistent
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if (ins.get_gyro_count() > 1) { |
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for (uint8_t i=0; i<ins.get_gyro_count(); i++) { |
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// get rotation rate difference between gyro #i and primary gyro
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Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro(); |
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if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros"); |
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} |
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return false; |
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} |
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} |
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} |
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// get ekf attitude (if bad, it's usually the gyro biases)
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if (!pre_arm_ekf_attitude_check()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling"); |
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} |
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return false; |
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} |
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} |
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#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN |
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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// check board voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) { |
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if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage"); |
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} |
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return false; |
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} |
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} |
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#endif |
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#endif |
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// check battery voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) { |
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if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery"); |
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} |
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return false; |
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} |
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} |
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// check various parameter values
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) { |
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// ensure ch7 and ch8 have different functions
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if (check_duplicate_auxsw()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options"); |
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} |
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return false; |
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} |
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// lean angle parameter check
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if (aparm.angle_max < 1000 || aparm.angle_max > 8000) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX"); |
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} |
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return false; |
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} |
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// acro balance parameter check
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if ((g.acro_balance_roll > attitude_control.get_angle_roll_p().kP()) || (g.acro_balance_pitch > attitude_control.get_angle_pitch_p().kP())) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH"); |
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} |
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return false; |
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} |
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#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED |
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// check range finder if optflow enabled
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if (optflow.enabled() && !rangefinder.pre_arm_check()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder"); |
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} |
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return false; |
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} |
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#endif |
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// check for missing terrain data
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if (!pre_arm_terrain_check(display_failure)) { |
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return false; |
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} |
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} |
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return true; |
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} |
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// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
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void Sub::pre_arm_rc_checks() |
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{ |
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// exit immediately if we've already successfully performed the pre-arm rc check
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if (ap.pre_arm_rc_check) { |
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return; |
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} |
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// set rc-checks to success if RC checks are disabled
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if ((g.arming_check != ARMING_CHECK_ALL) && !(g.arming_check & ARMING_CHECK_RC)) { |
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set_pre_arm_rc_check(true); |
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return; |
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} |
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// check if radio has been calibrated
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if (!channel_throttle->min_max_configured()) { |
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return; |
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} |
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// check channels 1 & 2 have min <= 1300 and max >= 1700
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if (channel_roll->get_radio_min() > 1300 || channel_roll->get_radio_max() < 1700 || channel_pitch->get_radio_min() > 1300 || channel_pitch->get_radio_max() < 1700) { |
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return; |
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} |
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// check channels 3 & 4 have min <= 1300 and max >= 1700
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if (channel_throttle->get_radio_min() > 1300 || channel_throttle->get_radio_max() < 1700 || channel_yaw->get_radio_min() > 1300 || channel_yaw->get_radio_max() < 1700) { |
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return; |
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} |
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// check channels 1 & 2 have trim >= 1300 and <= 1700
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if (channel_roll->get_radio_trim() < 1300 || channel_roll->get_radio_trim() > 1700 || channel_pitch->get_radio_trim() < 1300 || channel_pitch->get_radio_trim() > 1700) { |
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return; |
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} |
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// check channel 4 has trim >= 1300 and <= 1700
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if (channel_yaw->get_radio_trim() < 1300 || channel_yaw->get_radio_trim() > 1700) { |
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return; |
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} |
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// if we've gotten this far rc is ok
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set_pre_arm_rc_check(true); |
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} |
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// performs pre_arm gps related checks and returns true if passed
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bool Sub::pre_arm_gps_checks(bool display_failure) |
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{ |
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// always check if inertial nav has started and is ready
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if (!ahrs.healthy()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks"); |
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} |
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return false; |
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} |
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// check if flight mode requires GPS
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bool gps_required = mode_requires_GPS(control_mode); |
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#if AC_FENCE == ENABLED |
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// if circular fence is enabled we need GPS
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if ((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) { |
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gps_required = true; |
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} |
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#endif |
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// return true if GPS is not required
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if (!gps_required) { |
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// ensure GPS is ok
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if (!position_ok()) { |
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if (display_failure) { |
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const char *reason = ahrs.prearm_failure_reason(); |
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if (reason) { |
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); |
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} else { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix"); |
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} |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// check EKF compass variance is below failsafe threshold
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float vel_variance, pos_variance, hgt_variance, tas_variance; |
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Vector3f mag_variance; |
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Vector2f offset; |
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ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset); |
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if (mag_variance.length() >= g.fs_ekf_thresh) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance"); |
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} |
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return false; |
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} |
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// check home and EKF origin are not too far
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if (far_from_EKF_origin(ahrs.get_home())) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance"); |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// return true immediately if gps check is disabled
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if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) { |
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// warn about hdop separately - to prevent user confusion with no gps lock
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if (gps.get_hdop() > g.gps_hdop_good) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP"); |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// if we got here all must be ok
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// check ekf attitude is acceptable
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bool Sub::pre_arm_ekf_attitude_check() |
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{ |
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// get ekf filter status
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nav_filter_status filt_status = inertial_nav.get_filter_status(); |
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return filt_status.flags.attitude; |
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} |
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// check we have required terrain data
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bool Sub::pre_arm_terrain_check(bool display_failure) |
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{ |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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// succeed if not using terrain data
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if (!terrain_use()) { |
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return true; |
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} |
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// show terrain statistics
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uint16_t terr_pending, terr_loaded; |
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terrain.get_statistics(terr_pending, terr_loaded); |
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bool have_all_data = (terr_pending <= 0); |
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if (!have_all_data && display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data"); |
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} |
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return have_all_data; |
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#else |
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return true; |
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#endif |
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} |
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// arm_checks - perform final checks before arming
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// always called just before arming. Return true if ok to arm
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// has side-effect that logging is started
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bool Sub::arm_checks(bool display_failure, bool arming_from_gcs) |
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{ |
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#if LOGGING_ENABLED == ENABLED |
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// start dataflash
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start_logging(); |
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#endif |
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// check accels and gyro are healthy
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) { |
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//check if accelerometers have calibrated and require reboot
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if (ins.accel_cal_requires_reboot()) { |
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if (display_failure) { |
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gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot"); |
||||
} |
||||
return false; |
||||
} |
||||
|
||||
if (!ins.get_accel_health_all()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy"); |
||||
} |
||||
return false; |
||||
} |
||||
if (!ins.get_gyro_health_all()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy"); |
||||
} |
||||
return false; |
||||
} |
||||
// get ekf attitude (if bad, it's usually the gyro biases)
|
||||
if (!pre_arm_ekf_attitude_check()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling"); |
||||
} |
||||
return false; |
||||
} |
||||
} |
||||
|
||||
// always check if inertial nav has started and is ready
|
||||
if (!ahrs.healthy()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks"); |
||||
} |
||||
ahrs.reset(); // This will fix the altitude hang; ToDo: figure out what is actually causing the hang
|
||||
return false; |
||||
} |
||||
|
||||
if (compass.is_calibrating()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running"); |
||||
} |
||||
return false; |
||||
} |
||||
|
||||
// always check if the current mode allows arming
|
||||
if (!mode_allows_arming(control_mode, arming_from_gcs)) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable"); |
||||
} |
||||
return false; |
||||
} |
||||
|
||||
// always check gps
|
||||
if (!pre_arm_gps_checks(display_failure)) { |
||||
return false; |
||||
} |
||||
|
||||
// if we are using motor interlock switch and it's enabled, fail to arm
|
||||
if (ap.using_interlock && motors.get_interlock()) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled"); |
||||
return false; |
||||
} |
||||
|
||||
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
|
||||
// can run normally
|
||||
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)) { |
||||
set_motor_emergency_stop(false); |
||||
// if we are using motor Estop switch, it must not be in Estop position
|
||||
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped"); |
||||
return false; |
||||
} |
||||
|
||||
// succeed if arming checks are disabled
|
||||
if (g.arming_check == ARMING_CHECK_NONE) { |
||||
return true; |
||||
} |
||||
|
||||
// baro checks
|
||||
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) { |
||||
// baro health check
|
||||
if (!barometer.all_healthy()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy"); |
||||
} |
||||
return false; |
||||
} |
||||
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
|
||||
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
|
||||
// that may differ from the baro height due to baro drift.
|
||||
nav_filter_status filt_status = inertial_nav.get_filter_status(); |
||||
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); |
||||
if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity"); |
||||
} |
||||
return false; |
||||
} |
||||
} |
||||
|
||||
#if AC_FENCE == ENABLED |
||||
// check vehicle is within fence
|
||||
if (!fence.pre_arm_check()) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence"); |
||||
} |
||||
return false; |
||||
} |
||||
#endif |
||||
|
||||
// check lean angle
|
||||
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) { |
||||
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning"); |
||||
} |
||||
return false; |
||||
} |
||||
} |
||||
|
||||
// check battery voltage
|
||||
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) { |
||||
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery"); |
||||
} |
||||
return false; |
||||
} |
||||
} |
||||
|
||||
// check for missing terrain data
|
||||
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) { |
||||
if (!pre_arm_terrain_check(display_failure)) { |
||||
return false; |
||||
} |
||||
} |
||||
|
||||
// check throttle
|
||||
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) { |
||||
// check throttle is not too low - must be above failsafe throttle
|
||||
|
||||
// check throttle is not too high - skips checks if arming from GCS in Guided
|
||||
if (!(arming_from_gcs && control_mode == GUIDED)) { |
||||
// in manual modes throttle must be at zero
|
||||
if ((mode_has_manual_throttle(control_mode)) && channel_throttle->get_control_in() > 0) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high"); |
||||
} |
||||
return false; |
||||
} |
||||
} |
||||
} |
||||
|
||||
// check if safety switch has been pushed
|
||||
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { |
||||
if (display_failure) { |
||||
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch"); |
||||
} |
||||
return false; |
||||
} |
||||
|
||||
// if we've gotten this far all is ok
|
||||
return true; |
||||
} |
||||
Loading…
Reference in new issue