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AP_Arming: can specify any Proximity failsafe area #10250

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AP_Arming: can specify any Proximity failsafe area #10250

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4 changes: 2 additions & 2 deletions ArduCopter/AP_Arming.cpp
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Expand Up @@ -490,8 +490,8 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
float angle_deg, distance;
if (copter.avoid.proximity_avoidance_enabled() && copter.g2.proximity.get_closest_object(angle_deg, distance)) {
// display error if something is within 60cm
if (distance <= 0.6f) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Proximity %d deg, %4.2fm", (int)angle_deg, (double)distance);
if (distance <= _obstacle_distance / 100.0f) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Proximity %d deg, %5.2fm", (int)angle_deg, (double)distance);
return false;
}
}
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8 changes: 8 additions & 0 deletions libraries/AP_Arming/AP_Arming.cpp
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Expand Up @@ -88,6 +88,14 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Advanced
AP_GROUPINFO("MIS_ITEMS", 7, AP_Arming, _required_mission_items, 0),

// @Param: OBS_DIST
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let's call it PRX_DIST and change it to meters.

// @DisplayName: Obstacle detection distance
// @Description: Define dangerous zone from vehicle
// @Units: cm
// @Range: 60 2000
// @User: Standard
AP_GROUPINFO("OBS_DIST", 8, AP_Arming, _obstacle_distance, 60),
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Maybe a value of 0 disables the check?


// index 4 was VOLT_MIN, moved to AP_BattMonitor
AP_GROUPEND
};
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1 change: 1 addition & 0 deletions libraries/AP_Arming/AP_Arming.h
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Expand Up @@ -84,6 +84,7 @@ class AP_Arming {
AP_Float accel_error_threshold;
AP_Int8 _rudder_arming;
AP_Int32 _required_mission_items;
AP_Int16 _obstacle_distance; // Obstacle detection distance

// internal members
bool armed:1;
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