It will not be possible to arm if a proximity sensor has been configured
but is not working after this patch.
The can't-arm-when-within-60cm-of-something check can still be disabled
with the PARAMETER arming check bit.
This makes the arbitrary decision that arming checks always report
failures to the GCS.
Fixes:
In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
bool arm_checks(bool display_failure, AP_Arming::Method method) override;
^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
virtual bool arm_checks(AP_Arming::Method method);
^
1 error generated.
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.
This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.
This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.
Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424
It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
Peter Barker
Michael du Breuil
Patrick José Pereira
ChristopherOlson
IamPete1
bnsgeyer
murata
Andrew Tridgell
Dr.-Ing. Amilcar do Carmo Lucas
Peter Barker
Ebin
Randy Mackay
ChrisBird