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707 lines
26 KiB
707 lines
26 KiB
#include "Copter.h" |
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// performs pre-arm checks. expects to be called at 1hz. |
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void AP_Arming_Copter::update(void) |
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{ |
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// perform pre-arm checks & display failures every 30 seconds |
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static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2; |
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pre_arm_display_counter++; |
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bool display_fail = false; |
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if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) { |
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display_fail = true; |
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pre_arm_display_counter = 0; |
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} |
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set_pre_arm_check(pre_arm_checks(display_fail)); |
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} |
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// performs pre-arm checks and arming checks |
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bool AP_Arming_Copter::all_checks_passing(bool arming_from_gcs) |
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{ |
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set_pre_arm_check(pre_arm_checks(true)); |
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return copter.ap.pre_arm_check && arm_checks(true, arming_from_gcs); |
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} |
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// perform pre-arm checks |
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// return true if the checks pass successfully |
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bool AP_Arming_Copter::pre_arm_checks(bool display_failure) |
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{ |
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// exit immediately if already armed |
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if (copter.motors->armed()) { |
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return true; |
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} |
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// check if motor interlock and Emergency Stop aux switches are used |
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// at the same time. This cannot be allowed. |
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if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){ |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict"); |
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} |
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return false; |
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} |
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// check if motor interlock aux switch is in use |
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// if it is, switch needs to be in disabled position to arm |
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// otherwise exit immediately. This check to be repeated, |
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// as state can change at any time. |
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if (copter.ap.using_interlock && copter.ap.motor_interlock_switch) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled"); |
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} |
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return false; |
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} |
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// succeed if pre arm checks are disabled |
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if (checks_to_perform == ARMING_CHECK_NONE) { |
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return true; |
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} |
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return fence_checks(display_failure) |
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& parameter_checks(display_failure) |
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& motor_checks(display_failure) |
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& pilot_throttle_checks(display_failure) & |
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AP_Arming::pre_arm_checks(display_failure); |
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} |
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bool AP_Arming_Copter::barometer_checks(bool display_failure) |
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{ |
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if (!AP_Arming::barometer_checks(display_failure)) { |
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return false; |
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} |
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bool ret = true; |
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// check Baro |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) { |
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// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode. |
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// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height |
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// that may differ from the baro height due to baro drift. |
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nav_filter_status filt_status = _inav.get_filter_status(); |
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bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs); |
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if (using_baro_ref) { |
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if (fabsf(_inav.get_altitude() - copter.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity"); |
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} |
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ret = false; |
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} |
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} |
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} |
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return ret; |
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} |
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bool AP_Arming_Copter::compass_checks(bool display_failure) |
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{ |
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bool ret = AP_Arming::compass_checks(display_failure); |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_COMPASS)) { |
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// check compass offsets have been set. AP_Arming only checks |
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// this if learning is off; Copter *always* checks. |
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if (!_compass.configured()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated"); |
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} |
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ret = false; |
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} |
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} |
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return ret; |
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} |
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bool AP_Arming_Copter::fence_checks(bool display_failure) |
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{ |
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#if AC_FENCE == ENABLED |
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// check fence is initialised |
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const char *fail_msg = nullptr; |
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if (!copter.fence.pre_arm_check(fail_msg)) { |
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if (display_failure && fail_msg != nullptr) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", fail_msg); |
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} |
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return false; |
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} |
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#endif |
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return true; |
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} |
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bool AP_Arming_Copter::ins_checks(bool display_failure) |
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{ |
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bool ret = AP_Arming::ins_checks(display_failure); |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) { |
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// get ekf attitude (if bad, it's usually the gyro biases) |
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if (!pre_arm_ekf_attitude_check()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling"); |
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} |
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ret = false; |
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} |
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} |
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return ret; |
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} |
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bool AP_Arming_Copter::board_voltage_checks(bool display_failure) |
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{ |
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if (!AP_Arming::board_voltage_checks(display_failure)) { |
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return false; |
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} |
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Parameters &g = copter.g; |
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// check battery voltage |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { |
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if (copter.failsafe.battery) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Battery failsafe"); |
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} |
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return false; |
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} |
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// all following checks are skipped if USB is connected |
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if (copter.ap.usb_connected) { |
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return true; |
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} |
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// check if battery is exhausted |
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if (copter.battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery"); |
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} |
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return false; |
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} |
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// call parent battery checks |
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if (!AP_Arming::battery_checks(display_failure)) { |
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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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bool AP_Arming_Copter::parameter_checks(bool display_failure) |
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{ |
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// check various parameter values |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) { |
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// ensure ch7 and ch8 have different functions |
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if (copter.check_duplicate_auxsw()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options"); |
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} |
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return false; |
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} |
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// failsafe parameter checks |
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if (copter.g.failsafe_throttle) { |
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// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900 |
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if (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE"); |
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} |
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return false; |
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} |
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} |
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// lean angle parameter check |
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if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX"); |
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} |
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return false; |
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} |
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// acro balance parameter check |
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if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH"); |
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} |
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return false; |
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} |
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#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED |
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// check range finder if optflow enabled |
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if (copter.optflow.enabled() && !copter.rangefinder.pre_arm_check()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder"); |
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} |
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return false; |
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} |
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#endif |
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#if FRAME_CONFIG == HELI_FRAME |
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// check helicopter parameters |
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if (!copter.motors->parameter_check(display_failure)) { |
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return false; |
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} |
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#endif // HELI_FRAME |
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// check for missing terrain data |
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if (!pre_arm_terrain_check(display_failure)) { |
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return false; |
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} |
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// check adsb avoidance failsafe |
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if (copter.failsafe.adsb) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected"); |
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} |
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return false; |
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} |
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// check for something close to vehicle |
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if (!pre_arm_proximity_check(display_failure)) { |
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return false; |
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} |
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// Check for 0 value PID's - some items can / should be 0 and as such are not checked. |
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// If the ATC_RAT_*_FF is non zero then the corresponding ATC_RAT_* PIDS can be 0. |
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if (is_zero(copter.g.p_pos_xy.kP())) { |
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parameter_checks_pid_warning_message(display_failure, "POS_XY_P"); |
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return false; |
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} else if (is_zero(copter.g.p_alt_hold.kP())) { |
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parameter_checks_pid_warning_message(display_failure, "POS_Z_P"); |
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return false; |
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} else if (is_zero(copter.g.p_vel_z.kP())) { |
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parameter_checks_pid_warning_message(display_failure, "VEL_Z_P"); |
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return false; |
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} else if (is_zero(copter.g.pid_accel_z.kP())) { |
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parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_P"); |
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return false; |
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} else if (is_zero(copter.g.pid_accel_z.kI())) { |
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parameter_checks_pid_warning_message(display_failure, "ACCEL_Z_I"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kP()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_P"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kI()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_I"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_roll_pid().kD()) && is_zero(copter.attitude_control->get_rate_roll_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_RLL_D"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kP()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_P"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kI()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_I"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_pitch_pid().kD()) && is_zero(copter.attitude_control->get_rate_pitch_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_PIT_D"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kP()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_P"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_rate_yaw_pid().kI()) && is_zero(copter.attitude_control->get_rate_yaw_pid().ff())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_RAT_YAW_I"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_angle_pitch_p().kP())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_PIT_P"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_angle_roll_p().kP())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_RLL_P"); |
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return false; |
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} else if (is_zero(copter.attitude_control->get_angle_yaw_p().kP())) { |
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parameter_checks_pid_warning_message(display_failure, "ATC_ANG_YAW_P"); |
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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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void AP_Arming_Copter::parameter_checks_pid_warning_message(bool display_failure, const char *error_msg) |
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{ |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check PIDs - %s", error_msg); |
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} |
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} |
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// check motor setup was successful |
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bool AP_Arming_Copter::motor_checks(bool display_failure) |
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{ |
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// check motors initialised correctly |
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if (!copter.motors->initialised_ok()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check firmware or FRAME_CLASS"); |
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} |
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return false; |
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} |
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return true; |
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} |
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bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure) |
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{ |
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// check throttle is above failsafe throttle |
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// this is near the bottom to allow other failures to be displayed before checking pilot throttle |
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if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) { |
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if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) { |
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if (display_failure) { |
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#if FRAME_CONFIG == HELI_FRAME |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe"); |
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#else |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe"); |
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#endif |
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} |
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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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bool AP_Arming_Copter::rc_calibration_checks(bool display_failure) |
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{ |
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const RC_Channel *channels[] = { |
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copter.channel_roll, |
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copter.channel_pitch, |
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copter.channel_throttle, |
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copter.channel_yaw |
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}; |
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copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels) |
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& AP_Arming::rc_calibration_checks(display_failure); |
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return copter.ap.pre_arm_rc_check; |
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} |
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// performs pre_arm gps related checks and returns true if passed |
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bool AP_Arming_Copter::gps_checks(bool display_failure) |
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{ |
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// always check if inertial nav has started and is ready |
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if (!ahrs.healthy()) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks"); |
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} |
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return false; |
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} |
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// check if flight mode requires GPS |
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bool mode_requires_gps = copter.mode_requires_GPS(copter.control_mode); |
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// check if fence requires GPS |
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bool fence_requires_gps = false; |
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#if AC_FENCE == ENABLED |
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// if circular or polygon fence is enabled we need GPS |
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fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0; |
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#endif |
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// return true if GPS is not required |
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if (!mode_requires_gps && !fence_requires_gps) { |
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// ensure GPS is ok |
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if (!copter.position_ok()) { |
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if (display_failure) { |
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const char *reason = ahrs.prearm_failure_reason(); |
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if (reason) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason); |
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} else { |
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if (!mode_requires_gps && fence_requires_gps) { |
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// clarify to user why they need GPS in non-GPS flight mode |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Fence enabled, need 3D Fix"); |
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} else { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix"); |
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} |
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} |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// check for GPS glitch (as reported by EKF) |
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nav_filter_status filt_status; |
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if (_ahrs_navekf.get_filter_status(filt_status)) { |
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if (filt_status.flags.gps_glitching) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: GPS glitching"); |
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} |
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return false; |
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} |
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} |
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// check EKF compass variance is below failsafe threshold |
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float vel_variance, pos_variance, hgt_variance, tas_variance; |
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Vector3f mag_variance; |
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Vector2f offset; |
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_ahrs_navekf.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset); |
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if (mag_variance.length() >= copter.g.fs_ekf_thresh) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance"); |
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} |
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return false; |
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} |
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// check home and EKF origin are not too far |
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if (copter.far_from_EKF_origin(ahrs.get_home())) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance"); |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// return true immediately if gps check is disabled |
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if (!(checks_to_perform == ARMING_CHECK_ALL || checks_to_perform & ARMING_CHECK_GPS)) { |
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// warn about hdop separately - to prevent user confusion with no gps lock |
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if (copter.gps.get_hdop() > copter.g.gps_hdop_good) { |
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if (display_failure) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP"); |
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} |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// call parent gps checks |
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if (!AP_Arming::gps_checks(display_failure)) { |
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AP_Notify::flags.pre_arm_gps_check = false; |
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return false; |
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} |
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// if we got here all must be ok |
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AP_Notify::flags.pre_arm_gps_check = true; |
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return true; |
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} |
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// check ekf attitude is acceptable |
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bool AP_Arming_Copter::pre_arm_ekf_attitude_check() |
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{ |
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// get ekf filter status |
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nav_filter_status filt_status = _inav.get_filter_status(); |
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return filt_status.flags.attitude; |
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} |
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// check we have required terrain data |
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bool AP_Arming_Copter::pre_arm_terrain_check(bool display_failure) |
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{ |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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// succeed if not using terrain data |
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if (!copter.terrain_use()) { |
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return true; |
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} |
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// check if terrain following is enabled, using a range finder but RTL_ALT is higher than rangefinder's max range |
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// To-Do: modify RTL return path to fly at or above the RTL_ALT and remove this check |
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|
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if (copter.rangefinder_state.enabled && (copter.g.rtl_altitude > copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270))) { |
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gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: RTL_ALT above rangefinder max range"); |
|
return false; |
|
} |
|
|
|
// show terrain statistics |
|
uint16_t terr_pending, terr_loaded; |
|
copter.terrain.get_statistics(terr_pending, terr_loaded); |
|
bool have_all_data = (terr_pending <= 0); |
|
if (!have_all_data && display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Terrain data"); |
|
} |
|
return have_all_data; |
|
#else |
|
return true; |
|
#endif |
|
} |
|
|
|
// check nothing is too close to vehicle |
|
bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure) |
|
{ |
|
#if PROXIMITY_ENABLED == ENABLED |
|
|
|
// return true immediately if no sensor present |
|
if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) { |
|
return true; |
|
} |
|
|
|
// return false if proximity sensor unhealthy |
|
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor"); |
|
} |
|
return false; |
|
} |
|
|
|
// get closest object if we might use it for avoidance |
|
#if AC_AVOID_ENABLED == ENABLED |
|
float angle_deg, distance; |
|
if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) { |
|
// display error if something is within 60cm |
|
if (distance <= 0.6f) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance); |
|
} |
|
return false; |
|
} |
|
} |
|
#endif |
|
|
|
return true; |
|
#else |
|
return true; |
|
#endif |
|
} |
|
|
|
// arm_checks - perform final checks before arming |
|
// always called just before arming. Return true if ok to arm |
|
// has side-effect that logging is started |
|
bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs) |
|
{ |
|
// always check if inertial nav has started and is ready |
|
if (!ahrs.healthy()) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks"); |
|
} |
|
return false; |
|
} |
|
|
|
// check compass health |
|
if (!_compass.healthy()) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass not healthy"); |
|
} |
|
return false; |
|
} |
|
|
|
if (_compass.is_calibrating()) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running"); |
|
} |
|
return false; |
|
} |
|
|
|
//check if compass has calibrated and requires reboot |
|
if (_compass.compass_cal_requires_reboot()) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Compass calibrated requires reboot"); |
|
} |
|
return false; |
|
} |
|
|
|
control_mode_t control_mode = copter.control_mode; |
|
|
|
// always check if the current mode allows arming |
|
if (!copter.mode_allows_arming(control_mode, arming_from_gcs)) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable"); |
|
} |
|
return false; |
|
} |
|
|
|
// always check motors |
|
if (!motor_checks(display_failure)) { |
|
return false; |
|
} |
|
|
|
// if we are using motor interlock switch and it's enabled, fail to arm |
|
// skip check in Throw mode which takes control of the motor interlock |
|
if (copter.ap.using_interlock && copter.motors->get_interlock()) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled"); |
|
return false; |
|
} |
|
|
|
// if we are not using Emergency Stop switch option, force Estop false to ensure motors |
|
// can run normally |
|
if (!copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){ |
|
copter.set_motor_emergency_stop(false); |
|
// if we are using motor Estop switch, it must not be in Estop position |
|
} else if (copter.check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && copter.ap.motor_emergency_stop){ |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped"); |
|
return false; |
|
} |
|
|
|
// succeed if arming checks are disabled |
|
if (checks_to_perform == ARMING_CHECK_NONE) { |
|
return true; |
|
} |
|
|
|
// check lean angle |
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) { |
|
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning"); |
|
} |
|
return false; |
|
} |
|
} |
|
|
|
// check adsb |
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) { |
|
if (copter.failsafe.adsb) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected"); |
|
} |
|
return false; |
|
} |
|
} |
|
|
|
// check throttle |
|
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) { |
|
// check throttle is not too low - must be above failsafe throttle |
|
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) { |
|
if (display_failure) { |
|
#if FRAME_CONFIG == HELI_FRAME |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe"); |
|
#else |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe"); |
|
#endif |
|
} |
|
return false; |
|
} |
|
|
|
// check throttle is not too high - skips checks if arming from GCS in Guided |
|
if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) { |
|
// above top of deadband is too always high |
|
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { |
|
if (display_failure) { |
|
#if FRAME_CONFIG == HELI_FRAME |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high"); |
|
#else |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high"); |
|
#endif |
|
} |
|
return false; |
|
} |
|
// in manual modes throttle must be at zero |
|
if ((copter.mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) { |
|
if (display_failure) { |
|
#if FRAME_CONFIG == HELI_FRAME |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high"); |
|
#else |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high"); |
|
#endif |
|
} |
|
return false; |
|
} |
|
} |
|
} |
|
|
|
// check if safety switch has been pushed |
|
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { |
|
if (display_failure) { |
|
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch"); |
|
} |
|
return false; |
|
} |
|
|
|
// superclass method should always be the last thing called; it |
|
// has side-effects which would need to be cleaned up if one of |
|
// our arm checks failed |
|
return AP_Arming::arm_checks(arming_from_gcs); |
|
} |
|
|
|
enum HomeState AP_Arming_Copter::home_status() const |
|
{ |
|
return copter.ap.home_state; |
|
} |
|
|
|
void AP_Arming_Copter::set_pre_arm_check(bool b) |
|
{ |
|
copter.ap.pre_arm_check = b; |
|
AP_Notify::flags.pre_arm_check = b; |
|
}
|
|
|