RSC_Autorotation: fixup: Add pre-arm

ArduPilot · Sep 23, 2024 · 6e22ddc · 6e22ddc
1 parent 4d7dae1
commit 6e22ddc
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diff --git a/libraries/AC_Autorotation/RSC_Autorotation.cpp b/libraries/AC_Autorotation/RSC_Autorotation.cpp
@@ -1,8 +1,11 @@
 #include "RSC_Autorotation.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_HAL/AP_HAL.h>
 
 #define RSC_AROT_RAMP_TIME_DEFAULT 2 // time in seconds to ramp motors when bailing out of autorotation
 
+extern const AP_HAL::HAL& hal;
+
 // RSC autorotation state specific parameters
 const AP_Param::GroupInfo RSC_Autorotation::var_info[] = {
 
@@ -137,3 +140,14 @@ float RSC_Autorotation::get_runup_time(void) const
     // Never let the runup timer be less than the throttle ramp time
     return (float) MAX(bailout_throttle_time.get() + 1, bailout_runup_time.get());
 }
+
+// sanity check of parameters, should be called only whilst disarmed
+bool RSC_Autorotation::arming_checks(size_t buflen, char *buffer) const
+{
+    // throttle runup must be larger than ramp, keep the params up to date to not confuse users
+    if (bailout_throttle_time.get() + 1 > bailout_runup_time.get()) {
+        hal.util->snprintf(buffer, buflen, "H_RSC_AROT_RUNUP must be > H_RSC_AROT_RAMP");
+        return false;
+    }
+    return true;
+}
diff --git a/libraries/AC_Autorotation/RSC_Autorotation.h b/libraries/AC_Autorotation/RSC_Autorotation.h
@@ -33,6 +33,9 @@ class RSC_Autorotation
     // request changes in autorotation state
     void set_active(bool active, bool force_state);
 
+    // sanity check of parameters, should be called only whilst disarmed
+    bool arming_checks(size_t buflen, char *buffer) const;
+
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];