ArduPilot飞行前检查——PreArm解析

ArduPilot飞行前检查 主要包括两个部分:
1. 初始化中遥控器输入检查；
2. 1Hz解锁前检查。
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参考文章：Ardupilot Pre-Arm安全检查程序分析

1. 初始化中遥控器输入检查

直接跳转进去查看函数为；

bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
{
   
    const RC_Channel *channels[] = {
   
        copter.channel_roll,
        copter.channel_pitch,
        copter.channel_throttle,
        copter.channel_yaw
    };

    copter.ap.pre_arm_rc_check = rc_checks_copter_sub(display_failure, channels)
        & AP_Arming::rc_calibration_checks(display_failure);

    return copter.ap.pre_arm_rc_check;
}

// Copter and sub share the same RC input limits
// Copter checks that min and max have been configured by default, Sub does not
bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4]) const
{
   
    // set rc-checks to success if RC checks are disabled
    if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
   
        return true;
    }

    bool ret = true;

    const char *channel_names[] = {
    "Roll", "Pitch", "Throttle", "Yaw" };

    for (