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AP_Arming: add ARMING_OPTIONS param

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This commit is contained in:
Tatsuya Yamaguchi 2022-01-27 09:51:02 +09:00 committed by Randy Mackay
parent ce8405b7a4
commit 02f966a35d
2 changed files with 15 additions and 2 deletions
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7
libraries/AP_Arming/AP_Arming.cpp
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@ -128,6 +128,13 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("CHECK", 8, AP_Arming, checks_to_perform, ARMING_CHECK_ALL), AP_GROUPINFO("CHECK", 8, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
// @Param: OPTIONS
// @DisplayName: Arming options
// @Description: Options that can be applied to change arming behaviour
// @Values: 0:None,1:Disable prearm display
// @User: Advanced
AP_GROUPINFO_FRAME("OPTIONS", 9, AP_Arming, _arming_options, 0, AP_PARAM_FRAME_COPTER),
AP_GROUPEND AP_GROUPEND
}; };

6
libraries/AP_Arming/AP_Arming.h
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@ -124,6 +124,11 @@ public:
// vehicle has been disarmed at least once. // vehicle has been disarmed at least once.
Method last_disarm_method() const { return _last_disarm_method; } Method last_disarm_method() const { return _last_disarm_method; }
// enum for ARMING_OPTIONS parameter
enum class ArmingOptions : int32_t {
DISABLE_PREARM_DISPLAY = (1U << 0),
};
protected: protected:
// Parameters // Parameters
@ -132,6 +137,7 @@ protected:
AP_Float accel_error_threshold; AP_Float accel_error_threshold;
AP_Int8 _rudder_arming; AP_Int8 _rudder_arming;
AP_Int32 _required_mission_items; AP_Int32 _required_mission_items;
AP_Int32 _arming_options;
// internal members // internal members
bool armed; bool armed;