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106 lines
3.2 KiB
106 lines
3.2 KiB
/* |
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additional arming checks for plane |
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*/ |
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#include "AP_Arming.h" |
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#include "Plane.h" |
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const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = { |
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// variables from parent vehicle |
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AP_NESTEDGROUPINFO(AP_Arming, 0), |
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// index 3 was RUDDER and should not be used |
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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 display_failure) |
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{ |
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// call parent class checks |
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bool ret = AP_Arming::pre_arm_checks(display_failure); |
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// Check airspeed sensor |
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ret &= AP_Arming::airspeed_checks(display_failure); |
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if (plane.g.fs_timeout_long < plane.g.fs_timeout_short && plane.g.fs_action_short != FS_ACTION_SHORT_DISABLED) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT"); |
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ret = false; |
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} |
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if (plane.aparm.roll_limit_cd < 300) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "LIM_ROLL_CD too small (%u)", plane.aparm.roll_limit_cd); |
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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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check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MAX too small (%u)", plane.aparm.pitch_limit_max_cd); |
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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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check_failed(ARMING_CHECK_NONE, display_failure, "LIM_PITCH_MIN too large (%u)", plane.aparm.pitch_limit_min_cd); |
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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->get_radio_max()) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "Invalid THR_FS_VALUE for rev throttle"); |
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ret = false; |
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} |
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if (plane.quadplane.enabled() && !plane.quadplane.available()) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "Quadplane enabled but not running"); |
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ret = false; |
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} |
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if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "quadplane needs SCHED_LOOP_RATE >= 100"); |
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ret = false; |
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} |
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if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "No mission loaded"); |
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ret = false; |
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} |
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// check adsb avoidance failsafe |
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if (plane.failsafe.adsb) { |
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check_failed(ARMING_CHECK_NONE, display_failure, "ADSB threat detected"); |
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ret = false; |
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} |
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if (SRV_Channels::get_emergency_stop()) { |
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check_failed(ARMING_CHECK_NONE, display_failure,"Motors Emergency Stopped"); |
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ret = false; |
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} |
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return ret; |
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} |
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bool AP_Arming_Plane::ins_checks(bool display_failure) |
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{ |
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// call parent class checks |
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if (!AP_Arming::ins_checks(display_failure)) { |
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return false; |
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} |
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// additional plane specific checks |
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if ((checks_to_perform & ARMING_CHECK_ALL) || |
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(checks_to_perform & ARMING_CHECK_INS)) { |
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if (!AP::ahrs().healthy()) { |
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const char *reason = AP::ahrs().prearm_failure_reason(); |
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if (reason == nullptr) { |
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reason = "AHRS not healthy"; |
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} |
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check_failed(ARMING_CHECK_INS, display_failure, "%s", reason); |
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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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