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65 lines
2.1 KiB
65 lines
2.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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additional arming checks for plane |
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*/ |
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#include "Plane.h" |
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const AP_Param::GroupInfo AP_Arming_Plane::var_info[] PROGMEM = { |
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// variables from parent vehicle |
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AP_NESTEDGROUPINFO(AP_Arming, 0), |
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// @Param: RUDDER |
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// @DisplayName: Rudder Arming |
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// @Description: Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero |
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// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm |
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// @User: Advanced |
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AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY), |
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AP_GROUPEND |
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}; |
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/* |
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additional arming checks for plane |
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*/ |
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bool AP_Arming_Plane::pre_arm_checks(bool report) |
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{ |
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// call parent class checks |
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bool ret = AP_Arming::pre_arm_checks(report); |
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// Check airspeed sensor |
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ret &= AP_Arming::airspeed_checks(report); |
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if (plane.g.roll_limit_cd < 300) { |
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if (report) { |
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_ROLL_CD too small (%u)"), plane.g.roll_limit_cd); |
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} |
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ret = false; |
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} |
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if (plane.aparm.pitch_limit_max_cd < 300) { |
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if (report) { |
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MAX too small (%u)"), plane.aparm.pitch_limit_max_cd); |
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} |
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ret = false; |
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} |
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if (plane.aparm.pitch_limit_min_cd > -300) { |
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if (report) { |
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: LIM_PITCH_MIN too large (%u)"), plane.aparm.pitch_limit_min_cd); |
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} |
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ret = false; |
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} |
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if (plane.channel_throttle->get_reverse() && |
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plane.g.throttle_fs_enabled && |
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plane.g.throttle_fs_value < |
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plane.channel_throttle->radio_max) { |
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if (report) { |
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: invalid THR_FS_VALUE for rev throttle")); |
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} |
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ret = false; |
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} |
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return ret; |
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}
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