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Rover: move Arming functions into AP_Arming file

This commit is contained in:
Peter Barker 2019-05-30 09:37:14 +10:00 committed by Randy Mackay
parent ff603a1f0b
commit 22c5954c8f
3 changed files with 63 additions and 63 deletions
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7
APMrover2/APMrover2.cpp
View File

@ -141,13 +141,6 @@ void Rover::loop()
G_Dt = scheduler.get_last_loop_time_s();
}
void AP_Arming_Rover::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 Rover::ahrs_update()
{

63
APMrover2/AP_Arming.cpp
View File

@ -121,3 +121,66 @@ bool AP_Arming_Rover::proximity_check(bool report)
return true;
}
void AP_Arming_Rover::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 soft arm state and log as needed
*/
void AP_Arming_Rover::change_arm_state(void)
{
Log_Write_Arm_Disarm();
update_soft_armed();
}
/*
arm motors
*/
bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
{
if (!AP_Arming::arm(method, do_arming_checks)) {
AP_Notify::events.arming_failed = true;
return false;
}
// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
rover.g2.smart_rtl.set_home(true);
// initialize simple mode heading
rover.mode_simple.init_heading();
// save home heading for use in sail vehicles
rover.g2.windvane.record_home_heading();
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
/*
disarm motors
*/
bool AP_Arming_Rover::disarm(void)
{
if (!AP_Arming::disarm()) {
return false;
}
if (rover.control_mode != &rover.mode_auto) {
// reset the mission on disarm if we are not in auto
rover.mode_auto.mission.reset();
}
// only log if disarming was successful
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
return true;
}

56
APMrover2/system.cpp
View File

@ -314,62 +314,6 @@ bool Rover::should_log(uint32_t mask)
return logger.should_log(mask);
}
/*
update AHRS soft arm state and log as needed
*/
void AP_Arming_Rover::change_arm_state(void)
{
Log_Write_Arm_Disarm();
update_soft_armed();
}
/*
arm motors
*/
bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
{
if (!AP_Arming::arm(method, do_arming_checks)) {
AP_Notify::events.arming_failed = true;
return false;
}
// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
rover.g2.smart_rtl.set_home(true);
// initialize simple mode heading
rover.mode_simple.init_heading();
// save home heading for use in sail vehicles
rover.g2.windvane.record_home_heading();
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
return true;
}
/*
disarm motors
*/
bool AP_Arming_Rover::disarm(void)
{
if (!AP_Arming::disarm()) {
return false;
}
if (rover.control_mode != &rover.mode_auto) {
// reset the mission on disarm if we are not in auto
rover.mode_auto.mission.reset();
}
// only log if disarming was successful
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
return true;
}
// returns true if vehicle is a boat
// this affects whether the vehicle tries to maintain position after reaching waypoints
bool Rover::is_boat() const