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Copter: remove throttle check for arming in guided #28009

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Copter: remove throttle check for arming in guided #28009

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82a4bb5
autotest: add test for arming in guided with non-zero throttle
peterbarker Sep 4, 2024
f62cc23
Copter: remove throttle check for arming in guided
peterbarker Sep 4, 2024
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2 changes: 1 addition & 1 deletion ArduCopter/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -976,7 +976,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: GUID_OPTIONS
// @DisplayName: Guided mode options
// @Description: Options that can be applied to change guided mode behaviour
// @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets,7:Allow weathervaning
// @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets,7:Allow weathervaning,8:Require zero-throttle for arming
// @User: Advanced
AP_GROUPINFO("GUID_OPTIONS", 41, ParametersG2, guided_options, 0),
#endif
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3 changes: 3 additions & 0 deletions ArduCopter/RC_Channel.cpp
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Expand Up @@ -60,6 +60,9 @@ bool RC_Channels_Copter::arming_check_throttle() const {
// Copter already checks this case in its own arming checks
return false;
}
if (!copter.flightmode->arming_check_throttle()) {
return false;
}
return RC_Channels::arming_check_throttle();
}

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7 changes: 6 additions & 1 deletion ArduCopter/mode.h
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Expand Up @@ -121,6 +121,8 @@ class Mode {
virtual bool requires_GPS() const = 0;
virtual bool has_manual_throttle() const = 0;
virtual bool allows_arming(AP_Arming::Method method) const = 0;
virtual bool arming_check_throttle() const { return true; }

virtual bool is_autopilot() const { return false; }
virtual bool has_user_takeoff(bool must_navigate) const { return false; }
virtual bool in_guided_mode() const { return false; }
Expand Down Expand Up @@ -1120,6 +1122,8 @@ class ModeGuided : public Mode {
bool allows_weathervaning(void) const override;
#endif

bool arming_check_throttle() const override;

protected:

const char *name() const override { return "GUIDED"; }
Expand All @@ -1140,7 +1144,8 @@ class ModeGuided : public Mode {
DoNotStabilizePositionXY = (1U << 4),
DoNotStabilizeVelocityXY = (1U << 5),
WPNavUsedForPosControl = (1U << 6),
AllowWeatherVaning = (1U << 7)
AllowWeatherVaning = (1U << 7),
ArmingCheckThrottle = (1U << 8),
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Needs param description.

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Fixed, thanks.

We really should add a sanity check for that.

};

// returns true if the Guided-mode-option is set (see GUID_OPTIONS)
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5 changes: 5 additions & 0 deletions ArduCopter/mode_guided.cpp
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Expand Up @@ -114,6 +114,11 @@ bool ModeGuided::allows_arming(AP_Arming::Method method) const
return option_is_enabled(Option::AllowArmingFromTX);
};

bool ModeGuided::arming_check_throttle() const
{
return option_is_enabled(Option::ArmingCheckThrottle);
}

#if WEATHERVANE_ENABLED
bool ModeGuided::allows_weathervaning() const
{
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18 changes: 18 additions & 0 deletions Tools/autotest/arducopter.py
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Expand Up @@ -11889,6 +11889,23 @@ def ScriptingAHRSSource(self):
self.set_rc(10, 2000)
self.wait_statustext('Using EKF Source Set 3', check_context=True)

def GUIDEDArmingCheckThrottle(self):
'''check the way throttle is handled when arming in guided mode'''
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.start_subtest("With zero throttle should be able to arm")
self.arm_vehicle()
self.disarm_vehicle()

self.start_subtest("Without option set we should be able to arm with non-zero throttle in guided")
self.set_rc(3, 1600)
self.arm_vehicle()
self.disarm_vehicle()

self.start_subtest("With option enabled should not be able to arm with non-zero throttle")
self.set_parameter("GUID_OPTIONS", 1 << 8)
self.assert_arm_failure("is not neutral")

def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
Expand Down Expand Up @@ -11992,6 +12009,7 @@ def tests2b(self): # this block currently around 9.5mins here
self.BatteryInternalUseOnly,
self.MAV_CMD_MISSION_START_p1_p2,
self.ScriptingAHRSSource,
self.GUIDEDArmingCheckThrottle,
])
return ret

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