zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_Arming: remove double PreArm: in battery prearm report 

Also use check_failed throughout
master
Peter Barker 7 years ago committed by Randy Mackay
parent
da7fe1055a
commit
f258a25138
1 changed files with 10 additions and 19 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 29
      libraries/AP_Arming/AP_Arming.cpp

29
libraries/AP_Arming/AP_Arming.cpp
Unescape View File

@ -389,9 +389,7 @@ bool AP_Arming::gps_checks(bool report) @@ -389,9 +389,7 @@ bool AP_Arming::gps_checks(bool report)
if (AP::ahrs().get_position(ahrs_loc)) {
const float distance = location_diff(gps_loc, ahrs_loc).length();
if (distance > AP_ARMING_AHRS_GPS_ERROR_MAX) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: GPS and AHRS differ by %4.1fm", (double)distance);
}
check_failed(ARMING_CHECK_GPS, report, "GPS and AHRS differ by %4.1fm", (double)distance);
return false;
}
}
@ -400,10 +398,11 @@ bool AP_Arming::gps_checks(bool report) @@ -400,10 +398,11 @@ bool AP_Arming::gps_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
uint8_t first_unconfigured = gps.first_unconfigured_gps();
if (first_unconfigured != AP_GPS::GPS_ALL_CONFIGURED) {
check_failed(ARMING_CHECK_GPS_CONFIG,
report,
"GPS %d failing configuration checks",
first_unconfigured + 1);
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL,
"PreArm: GPS %d failing configuration checks",
first_unconfigured + 1);
gps.broadcast_first_configuration_failure_reason();
}
return false;
@ -427,7 +426,7 @@ bool AP_Arming::battery_checks(bool report) @@ -427,7 +426,7 @@ bool AP_Arming::battery_checks(bool report)
for (uint8_t i = 0; i < _battery.num_instances(); i++) {
if ((_min_voltage[i] > 0.0f) && (_battery.voltage(i) < _min_voltage[i])) {
check_failed(ARMING_CHECK_BATTERY, report, "PreArm: Battery %d voltage %.1f below minimum %.1f",
check_failed(ARMING_CHECK_BATTERY, report, "Battery %d voltage %.1f below minimum %.1f",
i+1,
(double)_battery.voltage(i),
(double)_min_voltage[i]);
@ -467,15 +466,11 @@ bool AP_Arming::rc_calibration_checks(bool report) @@ -467,15 +466,11 @@ bool AP_Arming::rc_calibration_checks(bool report)
}
const uint16_t trim = ch->get_radio_trim();
if (ch->get_radio_min() > trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d minimum is greater than trim", i + 1);
}
check_failed(ARMING_CHECK_RC, report, "RC%d minimum is greater than trim", i + 1);
check_passed = false;
}
if (ch->get_radio_max() < trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: RC%d maximum is less than trim", i + 1);
}
check_failed(ARMING_CHECK_RC, report, "RC%d maximum is less than trim", i + 1);
check_passed = false;
}
}
@ -512,15 +507,11 @@ bool AP_Arming::servo_checks(bool report) const @@ -512,15 +507,11 @@ bool AP_Arming::servo_checks(bool report) const
const uint16_t trim = ch->get_trim();
if (ch->get_output_min() > trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: SERVO%d minimum is greater than trim", i + 1);
}
check_failed(ARMING_CHECK_NONE, report, "SERVO%d minimum is greater than trim", i + 1);
check_passed = false;
}
if (ch->get_output_max() < trim) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: SERVO%d maximum is less than trim", i + 1);
}
check_failed(ARMING_CHECK_NONE, report, "SERVO%d maximum is less than trim", i + 1);
check_passed = false;
}
}

Write Preview
Loading…
Cancel
Save