// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
void Copter::pre_arm_rc_checks()
{
// exit immediately if we've already successfully performed the pre-arm rc check
if (ap.pre_arm_rc_check) {
return;
}
// set rc-checks to success if RC checks are disabled
if ((g.arming_check != ARMING_CHECK_ALL) && !(g.arming_check & ARMING_CHECK_RC)) {
set_pre_arm_rc_check(true);
return;
}
// check if radio has been calibrated
if (!channel_throttle->min_max_configured()) {
return;
}
// check channels 1 & 2 have min <= 1300 and max >= 1700
if (channel_roll->get_radio_min() > 1300 || channel_roll->get_radio_max() < 1700 || channel_pitch->get_radio_min() > 1300 || channel_pitch->get_radio_max() < 1700) {
return;
}
// check channels 3 & 4 have min <= 1300 and max >= 1700
if (channel_throttle->get_radio_min() > 1300 || channel_throttle->get_radio_max() < 1700 || channel_yaw->get_radio_min() > 1300 || channel_yaw->get_radio_max() < 1700) {
return;
}
// check channels 1 & 2 have trim >= 1300 and <= 1700
if (channel_roll->get_radio_trim() < 1300 || channel_roll->get_radio_trim() > 1700 || channel_pitch->get_radio_trim() < 1300 || channel_pitch->get_radio_trim() > 1700) {
return;
}
// check channel 4 has trim >= 1300 and <= 1700
if (channel_yaw->get_radio_trim() < 1300 || channel_yaw->get_radio_trim() > 1700) {
return;
}
// if we've gotten this far rc is ok
set_pre_arm_rc_check(true);
}
// perform pre-arm checks and set ap.pre_arm_check flag
// return true if the checks pass successfully
bool Copter::pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (motors.armed()) {
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
}
return false;
}
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
if (ap.using_interlock && ap.motor_interlock_switch) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
}
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
pre_arm_gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if (g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return true;
}
return barometer_checks(display_failure)
& rc_calibration_checks(display_failure)
& compass_checks(display_failure)
& gps_checks(display_failure)
& fence_checks(display_failure)
& ins_checks(display_failure)
& board_voltage_checks(display_failure)
& parameter_checks(display_failure)
& pilot_throttle_checks(display_failure);
}
// perform pre-arm checks and set ap.pre_arm_check flag
// return true if the checks pass successfully
bool Copter::pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (motors.armed()) {
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
}
return false;
}
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
if (ap.using_interlock && ap.motor_interlock_switch) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
}
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
pre_arm_gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if (g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return true;
}
// pre-arm rc checks a prerequisite
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
}
return false;
}
// check Baro
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// barometer health check
if (!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
}
return false;
}
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
}
return false;
}
}
}
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
//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;
}
// check the primary compass is healthy
if (!compass.healthy()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
}
return false;
}
// check compass learning is on or offsets have been set
if (!compass.configured()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
}
return false;
}
// check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets();
if (offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
}
return false;
}
// check for unreasonable mag field length
float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field");
}
return false;
}
// check all compasses point in roughly same direction
if (!compass.consistent()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
}
return false;
}
}
// check GPS
if (!pre_arm_gps_checks(display_failure)) {
return false;
}
#if AC_FENCE == ENABLED
// check fence is initialised
if (!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
}
return false;
}
#endif
// check INS
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
// check accelerometers have been calibrated
if (!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
}
return false;
}
// check accels are healthy
if (!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
}
return false;
}
//check if accelerometers have calibrated and require reboot
if (ins.accel_cal_requires_reboot()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
}
return false;
}
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
for(uint8_t i=0; i<ins.get_accel_count(); i++) {
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
if (i >= 2) {
/*
* for boards with 3 IMUs we only use the first two
* in the EKF. Allow for larger accel discrepancy
* for IMU3 as it may be running at a different temperature
*/
threshold *= 2;
}
// EKF is less sensitive to Z-axis error
vec_diff.z *= 0.5f;
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");
}
return false;
}
}
}
// check gyros are healthy
if (!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
}
return false;
}
// check all gyros are consistent
if (ins.get_gyro_count() > 1) {
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
// get rotation rate difference between gyro #i and primary gyro
Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros");
}
return false;
}
}
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
}
return false;
}
}
#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
// check board voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
}
return false;
}
}
#endif
#endif
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
}
return false;
}
}
// check various parameter values
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
// ensure ch7 and ch8 have different functions
if (check_duplicate_auxsw()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
}
return false;
}
// failsafe parameter checks
if (g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (channel_throttle->get_radio_min() <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
}
return false;
}
}
// lean angle parameter check
if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
}
return false;
}
// acro balance parameter check
if ((g.acro_balance_roll > attitude_control.get_angle_roll_p().kP()) || (g.acro_balance_pitch > attitude_control.get_angle_pitch_p().kP())) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
}
return false;
}
#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (optflow.enabled() && !rangefinder.pre_arm_check()) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
}
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters
if (!motors.parameter_check(display_failure)) {
return false;
}
#endif // HELI_FRAME
// check for missing terrain data
if (!pre_arm_terrain_check(display_failure)) {
return false;
}
// check adsb avoidance failsafe
if (failsafe.adsb) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: ADSB threat detected");
}
return false;
}
}
// check throttle is above failsafe throttle
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->get_radio_in() < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
#else
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
#endif
}
return false;
}
}
return true;
}
