ardupilot/libraries/AP_Arming/AP_Arming.h

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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>
#include "AP_Arming_config.h"
#include "AP_InertialSensor/AP_InertialSensor_config.h"
class AP_Arming {
public:
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AP_Arming();
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CLASS_NO_COPY(AP_Arming); /* Do not allow copies */
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static AP_Arming *get_singleton();
void update();
enum ArmingChecks {
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ARMING_CHECK_ALL = (1U << 0),
ARMING_CHECK_BARO = (1U << 1),
ARMING_CHECK_COMPASS = (1U << 2),
ARMING_CHECK_GPS = (1U << 3),
ARMING_CHECK_INS = (1U << 4),
ARMING_CHECK_PARAMETERS = (1U << 5),
ARMING_CHECK_RC = (1U << 6),
ARMING_CHECK_VOLTAGE = (1U << 7),
ARMING_CHECK_BATTERY = (1U << 8),
ARMING_CHECK_AIRSPEED = (1U << 9),
ARMING_CHECK_LOGGING = (1U << 10),
ARMING_CHECK_SWITCH = (1U << 11),
ARMING_CHECK_GPS_CONFIG = (1U << 12),
ARMING_CHECK_SYSTEM = (1U << 13),
ARMING_CHECK_MISSION = (1U << 14),
ARMING_CHECK_RANGEFINDER = (1U << 15),
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ARMING_CHECK_CAMERA = (1U << 16),
ARMING_CHECK_AUX_AUTH = (1U << 17),
ARMING_CHECK_VISION = (1U << 18),
ARMING_CHECK_FFT = (1U << 19),
ARMING_CHECK_OSD = (1U << 20),
};
enum class Method {
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RUDDER = 0,
MAVLINK = 1,
AUXSWITCH = 2,
MOTORTEST = 3,
SCRIPTING = 4,
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TERMINATION = 5, // only disarm uses this...
CPUFAILSAFE = 6, // only disarm uses this...
BATTERYFAILSAFE = 7, // only disarm uses this...
SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
AFS = 9, // only disarm uses this...
ADSBCOLLISIONACTION = 10, // only disarm uses this...
PARACHUTE_RELEASE = 11, // only disarm uses this...
CRASH = 12, // only disarm uses this...
LANDED = 13, // only disarm uses this...
MISSIONEXIT = 14, // only disarm uses this...
FENCEBREACH = 15, // only disarm uses this...
RADIOFAILSAFE = 16, // only disarm uses this...
DISARMDELAY = 17, // only disarm uses this...
GCSFAILSAFE = 18, // only disarm uses this...
TERRRAINFAILSAFE = 19, // only disarm uses this...
FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
TERRAINFAILSAFE = 21, // only disarm uses this...
MOTORDETECTDONE = 22, // only disarm uses this...
BADFLOWOFCONTROL = 23, // only disarm uses this...
EKFFAILSAFE = 24, // only disarm uses this...
GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
TAKEOFFTIMEOUT = 27, // only disarm uses this...
AUTOLANDED = 28, // only disarm uses this...
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PILOT_INPUT_FAILSAFE = 29, // only disarm uses this...
TOYMODELANDTHROTTLE = 30, // only disarm uses this...
TOYMODELANDFORCE = 31, // only disarm uses this...
LANDING = 32, // only disarm uses this...
DEADRECKON_FAILSAFE = 33, // only disarm uses this...
BLACKBOX = 34,
DDS = 35,
UNKNOWN = 100,
};
enum class Required {
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NO = 0,
YES_MIN_PWM = 1,
YES_ZERO_PWM = 2
};
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void init(void);
// these functions should not be used by Copter which holds the armed state in the motors library
Required arming_required() const;
virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
bool is_armed() const;
bool is_armed_and_safety_off() const;
// get bitmask of enabled checks
uint32_t get_enabled_checks() const;
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// pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass
virtual bool pre_arm_checks(bool report);
// some arming checks have side-effects, or require some form of state
// change to have occurred, and thus should not be done as pre-arm
// checks. Those go here:
virtual bool arm_checks(AP_Arming::Method method);
// get expected magnetic field strength
uint16_t compass_magfield_expected() const;
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// rudder arming support
enum class RudderArming {
IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
ARMONLY = 1,
ARMDISARM = 2
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};
RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
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#if AP_ARMING_AUX_AUTH_ENABLED
// auxiliary authorisation methods
bool get_aux_auth_id(uint8_t& auth_id);
void set_aux_auth_passed(uint8_t auth_id);
void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
#endif
static const struct AP_Param::GroupInfo var_info[];
// method that was last used for disarm; invalid unless the
// vehicle has been disarmed at least once.
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Method last_disarm_method() const { return _last_disarm_method; }
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// method that was last used for arm; invalid unless the
// vehicle has been disarmed at least once.
Method last_arm_method() const { return _last_arm_method; }
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// enum for ARMING_OPTIONS parameter
enum class Option : int32_t {
DISABLE_PREARM_DISPLAY = (1U << 0),
DISABLE_STATUSTEXT_ON_STATE_CHANGE = (1U << 1),
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};
bool option_enabled(Option option) const {
return (_arming_options & uint32_t(option)) != 0;
}
void send_arm_disarm_statustext(const char *string) const;
static bool method_is_GCS(Method method) {
return (method == Method::MAVLINK || method == Method::DDS);
}
protected:
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// Parameters
AP_Enum<Required> require;
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AP_Int32 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
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AP_Int8 _rudder_arming;
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AP_Int32 _required_mission_items;
AP_Int32 _arming_options;
AP_Int16 magfield_error_threshold;
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// internal members
bool armed;
uint32_t last_accel_pass_ms;
uint32_t last_gyro_pass_ms;
virtual bool barometer_checks(bool report);
bool airspeed_checks(bool report);
bool logging_checks(bool report);
#if AP_INERTIALSENSOR_ENABLED
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virtual bool ins_checks(bool report);
#endif
bool compass_checks(bool report);
virtual bool gps_checks(bool report);
bool battery_checks(bool report);
bool hardware_safety_check(bool report);
virtual bool board_voltage_checks(bool report);
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virtual bool rc_calibration_checks(bool report);
bool rc_in_calibration_check(bool report);
bool rc_arm_checks(AP_Arming::Method method);
bool manual_transmitter_checks(bool report);
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virtual bool mission_checks(bool report);
bool terrain_checks(bool report) const;
// expected to return true if the terrain database is required to have
// all data loaded
virtual bool terrain_database_required() const;
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bool rangefinder_checks(bool report);
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bool fence_checks(bool report);
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#if HAL_HAVE_IMU_HEATER
bool heater_min_temperature_checks(bool report);
#endif
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bool camera_checks(bool display_failure);
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bool osd_checks(bool display_failure) const;
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bool mount_checks(bool display_failure) const;
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#if AP_ARMING_AUX_AUTH_ENABLED
bool aux_auth_checks(bool display_failure);
#endif
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bool generator_checks(bool report) const;
bool opendroneid_checks(bool display_failure);
bool serial_protocol_checks(bool display_failure);
bool estop_checks(bool display_failure);
virtual bool system_checks(bool report);
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bool can_checks(bool report);
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bool fettec_checks(bool display_failure) const;
bool kdecan_checks(bool display_failure) const;
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virtual bool proximity_checks(bool report) const;
bool servo_checks(bool report) const;
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bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;
bool visodom_checks(bool report) const;
bool disarm_switch_checks(bool report) const;
// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
virtual bool mandatory_checks(bool report);
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// returns true if a particular check is enabled
bool check_enabled(const enum AP_Arming::ArmingChecks check) const;
// handle the case where a check fails
void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5);
void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
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void Log_Write_Arm(bool forced, AP_Arming::Method method);
void Log_Write_Disarm(bool forced, AP_Arming::Method method);
private:
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static AP_Arming *_singleton;
#if AP_INERTIALSENSOR_ENABLED
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bool ins_accels_consistent(const class AP_InertialSensor &ins);
bool ins_gyros_consistent(const class AP_InertialSensor &ins);
#endif
// check if we should keep logging after disarming
void check_forced_logging(const AP_Arming::Method method);
enum MIS_ITEM_CHECK {
MIS_ITEM_CHECK_LAND = (1 << 0),
MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),
MIS_ITEM_CHECK_DO_LAND_START = (1 << 2),
MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
MIS_ITEM_CHECK_RALLY = (1 << 5),
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MIS_ITEM_CHECK_RETURN_TO_LAUNCH = (1 << 6),
MIS_ITEM_CHECK_MAX
};
#if AP_ARMING_AUX_AUTH_ENABLED
// auxiliary authorisation
static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers
static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ")
enum class AuxAuthStates : uint8_t {
NO_RESPONSE = 0,
AUTH_FAILED,
AUTH_PASSED
} aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation
uint8_t aux_auth_count; // number of auxiliary authorisers
uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg
char* aux_auth_fail_msg; // buffer for holding failure messages
bool aux_auth_error; // true if too many auxiliary authorisers
HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
#endif
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// method that was last used for arm/disarm; invalid unless the
// vehicle has been disarmed at least once.
Method _last_disarm_method = Method::UNKNOWN;
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Method _last_arm_method = Method::UNKNOWN;
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
void update_arm_gpio();
};
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namespace AP {
AP_Arming &arming();
};