// 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);
}
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
if (armed || require == NONE) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
}
#endif
return hardware_safety_check(report)
& barometer_checks(report)
& ins_checks(report)
& compass_checks(report)
& gps_checks(report)
& battery_checks(report)
& logging_checks(report)
& manual_transmitter_checks(report)
& board_voltage_checks(report);
}
bool AP_Arming::pre_arm_checks(bool report)
{
bool ret = true;
if (armed || require == NONE) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
}
ret &= hardware_safety_check(report);
ret &= barometer_checks(report);
ret &= ins_checks(report);
ret &= compass_checks(report);
ret &= gps_checks(report);
ret &= battery_checks(report);
ret &= logging_checks(report);
ret &= manual_transmitter_checks(report);
ret &= board_voltage_checks(report);
return ret;
}
