4.6:Add crash_dump prearm

ArduPilot · Nov 13, 2024 · 591562c · 591562c
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diff --git a/common/source/docs/common-prearm-safety-checks.rst b/common/source/docs/common-prearm-safety-checks.rst
@@ -76,6 +76,7 @@ Pre-arm checks that are failing will also be sent as messages to the GCS while d
     Compass not healthy                                     At least one compass is not providing data          Check compass's connection to autopilot and :ref:`configuration <common-positioning-landing-page>`
     Compass offsets too high                                Compass offset params are too large                 Relocate compass away from metal in the frame and repeat :ref:`compass calibration <common-compass-calibration-in-mission-planner>`.  Disable internal compass.  Increase :ref:`COMPASS_OFFS_MAX <COMPASS_OFFS_MAX>`.
     Compasses inconsistent                                  Two compasses angles or field strength disagree     Check compass orientations (e.g. :ref:`COMPASS_ORIENT <COMPASS_ORIENT>`). Move compass away from metal in the frame.  repeat :ref:`compass calibration <common-compass-calibration-in-mission-planner>`.  Disable internal compass.
+    CrashDump data detected                                 Crash Dump data has been logged                     A CPU crash has occurred and data logged. Plane is probably unsafe to fly! See :ref:`crash_dump`
     Dijkstra OA requires reboot                             Object avoidance config change requires reboot      Reboot autopilot.  See :ref:`Object Avoidance configuration<common-object-avoidance-landing-page>`
     Disarm Switch on                                        Disarm auxiliary switch is in the high position     Move Disarm switch to the low position or check :ref:`auxiliary functions <common-auxiliary-functions>` setup
     Downloading logs                                        Vehicle cannot be armed while logs are downloading  Wait until logs are downloaded, cancel download or reboot autopilot

diff --git a/common/source/docs/common-watchdog.rst b/common/source/docs/common-watchdog.rst
@@ -47,6 +47,8 @@ A WDOG log message should also appear with the following columns that may be use
 - FP : Thread Priority (see list of priorities starting with APM_MONITOR_PRIORITY in `AP_HAL_ChibiOS/Scheduler.h <https://github.com/ardupilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/Scheduler.h#L25>`__)
 - ICSR : Interrupt Control and State Register (see "ICSR bit assignments" in ST datasheets)
 
+.. _crash_dump:
+
 CRASH DUMP
 ==========
 
@@ -58,4 +60,6 @@ On a "HARD FAULT", a file will be attempted to be written to the "@SYS" flash ar
 In addition to the crash_dump.bin file, the preceding dataflash log or the git-hash of the firmware that caused the crash dump should be included in the post of the file.
 
 .. image:: ../../../images/git-hash.png
-   :target: ../_images/git-hash.png
+   :target: ../_images/git-hash.png
+
+As of version 4.5.1, if a crash_dump.bin file has been created, a pre-arm failure will be activated to warn the user of the crash dump so that it may be reported. The pre-arm may be cleared by either re-flashing firmware to the autopilot or by setting the :ref:`ARMING_CRSDP_IGN<ARMING_CRSDP_IGN>` param to 1 (not recommended).