AP_Arming: Reduce response time when checks go from true to false

ArduPilot · Nov 25, 2023 · 8f9df5a · 8f9df5a
1 parent 4ffcc56
commit 8f9df5a
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -183,7 +183,9 @@ void AP_Arming::update(void)
     const uint32_t now_ms = AP_HAL::millis();
     // perform pre-arm checks & display failures every 30 seconds
     bool display_fail = false;
-    if (now_ms - last_prearm_display_ms > PREARM_DISPLAY_PERIOD*1000) {
+    if ((report_immediately && (now_ms - last_prearm_display_ms > 4000)) ||
+        (now_ms - last_prearm_display_ms > PREARM_DISPLAY_PERIOD*1000)) {
+        report_immediately = false;
         display_fail = true;
         last_prearm_display_ms = now_ms;
     }
@@ -1540,7 +1542,7 @@ bool AP_Arming::pre_arm_checks(bool report)
     }
 #endif
 
-    return hardware_safety_check(report)
+    bool checks_result = hardware_safety_check(report)
 #if HAL_HAVE_IMU_HEATER
         &  heater_min_temperature_checks(report)
 #endif
@@ -1575,6 +1577,13 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  opendroneid_checks(report)
         &  serial_protocol_checks(report)
         &  estop_checks(report);
+
+    if (!checks_result && last_prearm_checks_result) { // check went from true to false
+        report_immediately = true;
+    }
+    last_prearm_checks_result = checks_result;
+
+    return checks_result;
 }
 
 bool AP_Arming::arm_checks(AP_Arming::Method method)

diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
@@ -304,6 +304,9 @@ class AP_Arming {
     uint32_t last_prearm_display_ms;  // last time we send statustexts for prearm failures
     bool running_arming_checks;  // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
 
+    bool last_prearm_checks_result; // result of last prearm check
+    bool report_immediately; // set to true when check goes from true to false, to trigger immediate report
+
     void update_arm_gpio();
 };