ardupilot/ArduSub/AP_Arming_Sub.cpp

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#include "AP_Arming_Sub.h"
#include "Sub.h"
bool AP_Arming_Sub::rc_calibration_checks(bool display_failure)
{
const RC_Channel *channels[] = {
sub.channel_roll,
sub.channel_pitch,
sub.channel_throttle,
sub.channel_yaw
};
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return rc_checks_copter_sub(display_failure, channels);
}
bool AP_Arming_Sub::has_disarm_function() const {
bool has_shift_function = false;
// make sure the craft has a disarm button assigned before it is armed
// check all the standard btn functions
for (uint8_t i = 0; i < 16; i++) {
switch (sub.get_button(i)->function(false)) {
case JSButton::k_shift :
has_shift_function = true;
break;
case JSButton::k_arm_toggle :
return true;
case JSButton::k_disarm :
return true;
}
}
// check all the shift functions if there's shift assigned
if (has_shift_function) {
for (uint8_t i = 0; i < 16; i++) {
switch (sub.get_button(i)->function(true)) {
case JSButton::k_arm_toggle :
case JSButton::k_disarm :
return true;
}
}
}
return false;
}
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bool AP_Arming_Sub::pre_arm_checks(bool display_failure)
{
if (armed) {
return true;
}
// don't allow arming unless there is a disarm button configured
if (!has_disarm_function()) {
check_failed(display_failure, "Must assign a disarm or arm_toggle button");
return false;
}
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return AP_Arming::pre_arm_checks(display_failure);
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}
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bool AP_Arming_Sub::ins_checks(bool display_failure)
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{
// call parent class checks
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if (!AP_Arming::ins_checks(display_failure)) {
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return false;
}
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// additional sub-specific checks
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if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
if (!AP::ahrs().prearm_healthy()) {
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const char *reason = AP::ahrs().prearm_failure_reason();
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if (reason == nullptr) {
reason = "AHRS not healthy";
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}
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check_failed(ARMING_CHECK_INS, display_failure, "%s", reason);
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return false;
}
}
return true;
}
bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
{
static bool in_arm_motors = false;
// exit immediately if already in this function
if (in_arm_motors) {
return false;
}
in_arm_motors = true;
if (!AP_Arming::arm(method, do_arming_checks)) {
AP_Notify::events.arming_failed = true;
in_arm_motors = false;
return false;
}
// let logger know that we're armed (it may open logs e.g.)
AP::logger().set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while
sub.mainloop_failsafe_disable();
// notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true;
// call notify update a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) {
AP::notify().update();
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
#endif
AP_AHRS &ahrs = AP::ahrs();
sub.initial_armed_bearing = ahrs.yaw_sensor;
if (!ahrs.home_is_set()) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
// Always use absolute altitude for ROV
// ahrs.resetHeightDatum();
// Log_Write_Event(DATA_EKF_ALT_RESET);
} else if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
// Reset home position if it has already been set before (but not locked)
if (!sub.set_home_to_current_location(false)) {
// ignore this failure
}
}
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
// enable output to motors
sub.enable_motor_output();
// finally actually arm the motors
sub.motors.armed(true);
AP::logger().Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
AP::logger().Write_Mode(sub.control_mode, sub.control_mode_reason);
// reenable failsafe
sub.mainloop_failsafe_enable();
// perf monitor ignores delay due to arming
AP::scheduler().perf_info.ignore_this_loop();
// flag exiting this function
in_arm_motors = false;
// return success
return true;
}
bool AP_Arming_Sub::disarm()
{
// return immediately if we are already disarmed
if (!sub.motors.armed()) {
return false;
}
if (!AP_Arming::disarm()) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
// save compass offsets learned by the EKF if enabled
if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
Vector3f magOffsets;
if (ahrs.getMagOffsets(i, magOffsets)) {
AP::compass().set_and_save_offsets(i, magOffsets);
}
}
}
AP::logger().Write_Event(DATA_DISARMED);
// send disarm command to motors
sub.motors.armed(false);
// reset the mission
sub.mission.reset();
AP::logger().set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
// clear input holds
sub.clear_input_hold();
return true;
}