Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-27 10:13:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: move Arming functions into AP_Arming file

Browse Source
This commit is contained in:
Peter Barker 2019-05-30 09:37:41 +10:00 committed by Randy Mackay
parent 112b153268
commit 13f7022cec
3 changed files with 67 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

67
ArduPlane/AP_Arming.cpp
View File

@ -148,3 +148,70 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
// call parent class checks
return AP_Arming::arm_checks(method);
}
/*
update HAL soft arm state and log as needed
*/
void AP_Arming_Plane::change_arm_state(void)
{
Log_Write_Arm_Disarm();
update_soft_armed();
plane.quadplane.set_armed(hal.util->get_soft_armed());
}
bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
{
if (!AP_Arming::arm(method, do_arming_checks)) {
return false;
}
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
/*
disarm motors
*/
bool AP_Arming_Plane::disarm(void)
{
if (!AP_Arming::disarm()) {
return false;
}
if (plane.control_mode != &plane.mode_auto) {
// reset the mission on disarm if we are not in auto
plane.mission.reset();
}
// suppress the throttle in auto-throttle modes
plane.throttle_suppressed = plane.auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
// reload target airspeed which could have been modified by a mission
plane.aparm.airspeed_cruise_cm.load();
#if QAUTOTUNE_ENABLED
//save qautotune gains if enabled and success
if (plane.control_mode == &plane.mode_qautotune) {
plane.quadplane.qautotune.save_tuning_gains();
} else {
plane.quadplane.qautotune.reset();
}
#endif
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
return true;
}
void AP_Arming_Plane::update_soft_armed()
{
hal.util->set_soft_armed(is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
}

7
ArduPlane/ArduPlane.cpp
View File

@ -129,13 +129,6 @@ void Plane::loop()
G_Dt = scheduler.get_loop_period_s();
}
void AP_Arming_Plane::update_soft_armed()
{
hal.util->set_soft_armed(is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
}
// update AHRS system
void Plane::ahrs_update()
{

59
ArduPlane/system.cpp
View File

@ -454,62 +454,3 @@ int8_t Plane::throttle_percentage(void)
}
return constrain_int16(throttle, -100, 100);
}
/*
update HAL soft arm state and log as needed
*/
void AP_Arming_Plane::change_arm_state(void)
{
Log_Write_Arm_Disarm();
update_soft_armed();
plane.quadplane.set_armed(hal.util->get_soft_armed());
}
bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
{
if (!AP_Arming::arm(method, do_arming_checks)) {
return false;
}
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
/*
disarm motors
*/
bool AP_Arming_Plane::disarm(void)
{
if (!AP_Arming::disarm()) {
return false;
}
if (plane.control_mode != &plane.mode_auto) {
// reset the mission on disarm if we are not in auto
plane.mission.reset();
}
// suppress the throttle in auto-throttle modes
plane.throttle_suppressed = plane.auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
// reload target airspeed which could have been modified by a mission
plane.aparm.airspeed_cruise_cm.load();
#if QAUTOTUNE_ENABLED
//save qautotune gains if enabled and success
if (plane.control_mode == &plane.mode_qautotune) {
plane.quadplane.qautotune.save_tuning_gains();
} else {
plane.quadplane.qautotune.reset();
}
#endif
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
return true;
}