bool AP_Arming_Copter::parameter_checks(bool display_failure)
{
// check various parameter values
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
// ensure all rc channels have different functions
if (rc().duplicate_options_exist()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Duplicate Aux Switch Options");
return false;
}
// failsafe parameter checks
if (copter.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 (copter.channel_throttle->get_radio_min() <= copter.g.failsafe_throttle_value+10 || copter.g.failsafe_throttle_value < 910) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check FS_THR_VALUE");
return false;
}
}
// lean angle parameter check
if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check ANGLE_MAX");
return false;
}
// acro balance parameter check
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
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())) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ACRO_BAL_ROLL/PITCH");
return false;
}
#endif
#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (copter.optflow.enabled() && !copter.rangefinder.pre_arm_check()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "check range finder");
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters
if (!copter.motors->parameter_check(display_failure)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
return false;
}
// Inverted flight feature disabled for Heli Single and Dual frames
if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Inverted flight option not supported");
return false;
}
// Ensure an Aux Channel is configured for motor interlock
if (rc().find_channel_for_option(RC_Channel::aux_func_t::MOTOR_INTERLOCK) == nullptr) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Motor Interlock not configured");
return false;
}
#endif // HELI_FRAME
// check for missing terrain data
if (!pre_arm_terrain_check(display_failure)) {
return false;
}
// check adsb avoidance failsafe
#if ADSB_ENABLED == ENABLE
if (copter.failsafe.adsb) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
return false;
}
#endif
// check for something close to vehicle
if (!pre_arm_proximity_check(display_failure)) {
return false;
}
// ensure controllers are OK with us arming:
char failure_msg[50];
if (!copter.pos_control->pre_arm_checks("PSC", failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
return false;
}
if (!copter.attitude_control->pre_arm_checks("ATC", failure_msg, ARRAY_SIZE(failure_msg))) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Bad parameter: %s", failure_msg);
return false;
}
}
return true;
}
bool Copter::parameter_checks(bool display_failure)
{
// 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,"PreArm: ADSB threat detected");
}
return false;
}
// check for something close to vehicle
if (!pre_arm_proximity_check(display_failure)) {
return false;
}
}
return true;
}
