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47 lines
1.3 KiB
47 lines
1.3 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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/* |
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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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if (plane.g.roll_limit_cd < 300) { |
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if (report) { |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: LIM_ROLL_CD too small")); |
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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_send_text_P(SEVERITY_HIGH,PSTR("PreArm: LIM_PITCH_MAX too small")); |
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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_send_text_P(SEVERITY_HIGH,PSTR("PreArm: LIM_PITCH_MIN too large")); |
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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_send_text_P(SEVERITY_HIGH,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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