Copter: make rc checks verbose on failure

ArduCopter/AP_Arming.cpp

@@ -89,7 +89,7 @@ bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
 bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
 {
     // pre-arm rc checks a prerequisite
-    pre_arm_rc_checks();
+    pre_arm_rc_checks(display_failure);
     if (!copter.ap.pre_arm_rc_check) {
         if (display_failure) {
             gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
@@ -330,7 +330,7 @@ bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
 }
 
 // perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
-void AP_Arming_Copter::pre_arm_rc_checks()
+void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
 {
     // exit immediately if we've already successfully performed the pre-arm rc check
     if (copter.ap.pre_arm_rc_check) {
@@ -354,13 +354,21 @@ void AP_Arming_Copter::pre_arm_rc_checks()
         copter.channel_throttle,
         copter.channel_yaw
     };
+    const char *channel_names[] = { "Roll", "Pitch", "Throttle", "Yaw" };
 
     for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
         const RC_Channel *channel = channels[i];
+        const char *channel_name = channel_names[i];
         if (channel->get_radio_min() > 1300) {
+            if (display_failure) {
+                copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);
+            }
             return;
         }
         if (channel->get_radio_max() < 1700) {
+            if (display_failure) {
+                copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio max too low", channel_name);
+            }
             return;
         }
         if (i == 2) {
@@ -368,9 +376,15 @@ void AP_Arming_Copter::pre_arm_rc_checks()
             continue;
         }
         if (channel->get_radio_trim() < channel->get_radio_min()) {
+            if (display_failure) {
+                copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
+            }
             return;
         }
         if (channel->get_radio_trim() > channel->get_radio_max()) {
+            if (display_failure) {
+                copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
+            }
             return;
         }
     }

ArduCopter/AP_Arming.h

@@ -17,7 +17,7 @@ public:
 
     void update(void);
     bool all_checks_passing(bool arming_from_gcs);
-    void pre_arm_rc_checks();
+    void pre_arm_rc_checks(bool display_failure);
 
 protected:
 

ArduCopter/compassmot.cpp

@@ -56,7 +56,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     }
 
     // check if radio is calibrated
-    arming.pre_arm_rc_checks();
+    arming.pre_arm_rc_checks(true);
     if (!ap.pre_arm_rc_check) {
         gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
         ap.compass_mot = false;

ArduCopter/esc_calibration.cpp

@@ -20,7 +20,7 @@ void Copter::esc_calibration_startup_check()
 {
 #if FRAME_CONFIG != HELI_FRAME
     // exit immediately if pre-arm rc checks fail
-    arming.pre_arm_rc_checks();
+    arming.pre_arm_rc_checks(true);
     if (!ap.pre_arm_rc_check) {
         // clear esc flag for next time
         if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {

ArduCopter/motor_test.cpp

@@ -73,7 +73,7 @@ void Copter::motor_test_output()
 bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
 {
     // check rc has been calibrated
-    arming.pre_arm_rc_checks();
+    arming.pre_arm_rc_checks(true);
     if(check_rc && !ap.pre_arm_rc_check) {
         gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
         return false;

ArduCopter/radio.cpp

@@ -68,7 +68,7 @@ void Copter::init_rc_out()
     esc_calibration_startup_check();
 
     // enable output to motors
-    arming.pre_arm_rc_checks();
+    arming.pre_arm_rc_checks(true);
     if (ap.pre_arm_rc_check) {
         enable_motor_output();
     }