ArduPilot/ardupilot

Copter: add pre-arm check if frame can't find the output for a motor

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#7,354 创建于 2017年12月5日

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 (2 评论) (1 反应) (1 负责人)C++ (9,336 star) (15,603 fork)batch import
CopterEnhancementgood first issue

描述

In Copter-3.5 (and higher) the AP_Motors library requires that the SERVOx_FUNCTION be set for each motor. Although these parameter default to good values, it's possible that a user could mess up the SERVOx_FUNCTION settings so that there are no defined outputs for some motors. We should raise a pre-arm check failure in such cases.

贡献者指南

技术栈
cpp
领域
security
议题类型
feature
难度面向新贡献者的预计实现难度，1 表示很小改动，5 表示专家级工作。
3
预计时间有经验贡献者完成调查、实现、测试并准备 pull request 的粗略时间范围。
1-3 hours
活动状态议题当前的可参与程度：新鲜、活跃、陈旧、阻塞或等待维护者输入。
stale
清晰度议题是否清楚说明期望改动、验收标准和下一步。
clear
前置要求
C++AP Motors libraryArduPilot pre arm system
新手友好度1-100 的估计分数，表示该议题对首次贡献者的友好程度。
45
研究方向
Start by examining how pre arm checks are implemented in ArduPilot, specifically in the Copter firmware. Look at existing pre arm checks in libraries/AP Motors/AP Motors.cpp or similar files. Understand how motors are mapped to outputs via SERVOx FUNCTION parameters. Implement a new check that iterates over motors and verifies each has a valid SERVOx FUNCTION assigned, raising a pre arm failure if not. Reference the issue for requirements.