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AP_Arming: remove AP_KDECAN prearm checks

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Tom Pittenger 2023-04-15 21:23:03 -07:00 committed by Andrew Tridgell
parent af2fc47b4d
commit 2fcae3c520
2 changed files with 4 additions and 16 deletions
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18
libraries/AP_Arming/AP_Arming.cpp
View File

@ -53,6 +53,7 @@
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_KDECAN/AP_KDECAN.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
@ -61,11 +62,6 @@
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
#include <AP_KDECAN/AP_KDECAN.h>
#endif
#include <AP_DroneCAN/AP_DroneCAN.h>
#endif
@ -1157,17 +1153,6 @@ bool AP_Arming::can_checks(bool report)
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_KDECAN: {
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
if (ap_kdecan != nullptr && !ap_kdecan->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_SYSTEM, report, "KDECAN: %s", fail_msg);
return false;
}
#endif
break;
}
case AP_CANManager::Driver_Type_PiccoloCAN: {
#if HAL_PICCOLO_CAN_ENABLE
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
@ -1205,6 +1190,7 @@ bool AP_Arming::can_checks(bool report)
case AP_CANManager::Driver_Type_Scripting:
case AP_CANManager::Driver_Type_Scripting2:
case AP_CANManager::Driver_Type_Benewake:
case AP_CANManager::Driver_Type_KDECAN:
break;
}
}

2
libraries/AP_Arming/AP_Arming.h
View File

@ -222,6 +222,8 @@ protected:
bool fettec_checks(bool display_failure) const;
bool kdecan_checks(bool display_failure) const;
virtual bool proximity_checks(bool report) const;
bool servo_checks(bool report) const;