mirror of https://github.com/ArduPilot/ardupilot
AP_Arming: be more consistent withb our defines around optional features
This commit is contained in:
Peter Barker
Peter Barker
parent
098277ce6a
commit
35f1fdf0d8
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@ -602,6 +602,7 @@ bool AP_Arming::compass_checks(bool report)
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return true;
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}
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#if AP_GPS_ENABLED
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bool AP_Arming::gps_checks(bool report)
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{
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const AP_GPS &gps = AP::gps();
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@ -692,7 +693,9 @@ bool AP_Arming::gps_checks(bool report)
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return true;
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}
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#endif // AP_GPS_ENABLED
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#if AP_BATTERY_ENABLED
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bool AP_Arming::battery_checks(bool report)
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{
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if (check_enabled(ARMING_CHECK_BATTERY)) {
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@ -705,6 +708,7 @@ bool AP_Arming::battery_checks(bool report)
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}
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return true;
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}
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#endif // AP_BATTERY_ENABLED
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bool AP_Arming::hardware_safety_check(bool report)
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{
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@ -840,6 +844,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
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}
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#endif // AP_RC_CHANNEL_ENABLED
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#if AP_MISSION_ENABLED
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bool AP_Arming::mission_checks(bool report)
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{
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AP_Mission *mission = AP::mission();
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@ -914,6 +919,7 @@ bool AP_Arming::mission_checks(bool report)
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return true;
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}
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#endif // AP_MISSION_ENABLED
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bool AP_Arming::rangefinder_checks(bool report)
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{
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@ -1178,10 +1184,10 @@ bool AP_Arming::terrain_checks(bool report) const
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}
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#if HAL_PROXIMITY_ENABLED
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// check nothing is too close to vehicle
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bool AP_Arming::proximity_checks(bool report) const
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{
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#if HAL_PROXIMITY_ENABLED
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const AP_Proximity *proximity = AP::proximity();
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// return true immediately if no sensor present
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if (proximity == nullptr) {
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@ -1193,14 +1199,14 @@ bool AP_Arming::proximity_checks(bool report) const
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return false;
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}
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return true;
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#endif
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return true;
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}
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#endif // HAL_PROXIMITY_ENABLED
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
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bool AP_Arming::can_checks(bool report)
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{
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
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if (check_enabled(ARMING_CHECK_SYSTEM)) {
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char fail_msg[50] = {};
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(void)fail_msg; // might be left unused
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@ -1257,14 +1263,14 @@ bool AP_Arming::can_checks(bool report)
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}
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}
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}
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#endif
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return true;
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}
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
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#if AP_FENCE_ENABLED
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bool AP_Arming::fence_checks(bool display_failure)
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{
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#if AP_FENCE_ENABLED
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const AC_Fence *fence = AP::fence();
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if (fence == nullptr) {
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return true;
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@ -1283,15 +1289,13 @@ bool AP_Arming::fence_checks(bool display_failure)
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}
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return false;
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#else
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return true;
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#endif
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}
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#endif // AP_FENCE_ENABLED
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#if HAL_RUNCAM_ENABLED
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bool AP_Arming::camera_checks(bool display_failure)
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{
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if (check_enabled(ARMING_CHECK_CAMERA)) {
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#if HAL_RUNCAM_ENABLED
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AP_RunCam *runcam = AP::runcam();
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if (runcam == nullptr) {
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return true;
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@ -1303,14 +1307,14 @@ bool AP_Arming::camera_checks(bool display_failure)
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check_failed(ARMING_CHECK_CAMERA, display_failure, "%s", fail_msg);
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return false;
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}
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#endif
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}
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return true;
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}
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#endif // HAL_RUNCAM_ENABLED
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#if OSD_ENABLED
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bool AP_Arming::osd_checks(bool display_failure) const
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{
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#if OSD_ENABLED
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if (check_enabled(ARMING_CHECK_OSD)) {
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// if no OSD then pass
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const AP_OSD *osd = AP::osd();
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@ -1324,13 +1328,13 @@ bool AP_Arming::osd_checks(bool display_failure) const
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return false;
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}
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}
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#endif
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return true;
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}
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#endif // OSD_ENABLED
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#if HAL_MOUNT_ENABLED
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bool AP_Arming::mount_checks(bool display_failure) const
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{
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#if HAL_MOUNT_ENABLED
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if (check_enabled(ARMING_CHECK_CAMERA)) {
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AP_Mount *mount = AP::mount();
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if (mount == nullptr) {
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@ -1342,13 +1346,13 @@ bool AP_Arming::mount_checks(bool display_failure) const
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return false;
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}
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}
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#endif
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return true;
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}
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#endif // HAL_MOUNT_ENABLED
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#if AP_FETTEC_ONEWIRE_ENABLED
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bool AP_Arming::fettec_checks(bool display_failure) const
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{
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#if AP_FETTEC_ONEWIRE_ENABLED
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const AP_FETtecOneWire *f = AP_FETtecOneWire::get_singleton();
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if (f == nullptr) {
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return true;
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@ -1360,9 +1364,9 @@ bool AP_Arming::fettec_checks(bool display_failure) const
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check_failed(ARMING_CHECK_ALL, display_failure, "FETtec: %s", fail_msg);
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return false;
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}
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#endif
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return true;
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}
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#endif // AP_FETTEC_ONEWIRE_ENABLED
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#if AP_ARMING_AUX_AUTH_ENABLED
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// request an auxiliary authorisation id. This id should be used in subsequent calls to set_aux_auth_passed/failed
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@ -1483,9 +1487,9 @@ bool AP_Arming::aux_auth_checks(bool display_failure)
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}
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#endif // AP_ARMING_AUX_AUTH_ENABLED
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#if HAL_GENERATOR_ENABLED
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bool AP_Arming::generator_checks(bool display_failure) const
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{
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#if HAL_GENERATOR_ENABLED
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const AP_Generator *generator = AP::generator();
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if (generator == nullptr) {
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return true;
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@ -1495,14 +1499,14 @@ bool AP_Arming::generator_checks(bool display_failure) const
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check_failed(display_failure, "Generator: %s", failure_msg);
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return false;
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}
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#endif
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return true;
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}
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#endif // HAL_GENERATOR_ENABLED
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#if AP_OPENDRONEID_ENABLED
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// OpenDroneID Checks
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bool AP_Arming::opendroneid_checks(bool display_failure)
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{
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#if AP_OPENDRONEID_ENABLED
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auto &opendroneid = AP::opendroneid();
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char failure_msg[50] {};
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@ -1510,9 +1514,9 @@ bool AP_Arming::opendroneid_checks(bool display_failure)
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check_failed(display_failure, "OpenDroneID: %s", failure_msg);
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return false;
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}
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#endif
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return true;
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}
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#endif // AP_OPENDRONEID_ENABLED
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//Check for multiple RC in serial protocols
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bool AP_Arming::serial_protocol_checks(bool display_failure)
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@ -1560,41 +1564,73 @@ bool AP_Arming::pre_arm_checks(bool report)
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#if HAL_HAVE_IMU_HEATER
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& heater_min_temperature_checks(report)
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#endif
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#if AP_BARO_ENABLED
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& barometer_checks(report)
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#endif
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#if AP_INERTIALSENSOR_ENABLED
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& ins_checks(report)
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#endif
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#if AP_COMPASS_ENABLED
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& compass_checks(report)
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#endif
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#if AP_GPS_ENABLED
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& gps_checks(report)
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#endif
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#if AP_BATTERY_ENABLED
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& battery_checks(report)
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#endif
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#if HAL_LOGGING_ENABLED
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& logging_checks(report)
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#endif
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#if AP_RC_CHANNEL_ENABLED
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& manual_transmitter_checks(report)
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#endif
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#if AP_MISSION_ENABLED
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& mission_checks(report)
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#endif
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#if AP_RANGEFINDER_ENABLED
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& rangefinder_checks(report)
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#endif
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& servo_checks(report)
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& board_voltage_checks(report)
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& system_checks(report)
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& terrain_checks(report)
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
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& can_checks(report)
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#endif
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#if HAL_GENERATOR_ENABLED
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& generator_checks(report)
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#endif
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#if HAL_PROXIMITY_ENABLED
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& proximity_checks(report)
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#endif
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#if HAL_RUNCAM_ENABLED
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& camera_checks(report)
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#endif
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#if OSD_ENABLED
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& osd_checks(report)
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#endif
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#if HAL_MOUNT_ENABLED
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& mount_checks(report)
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#endif
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#if AP_FETTEC_ONEWIRE_ENABLED
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& fettec_checks(report)
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#endif
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#if HAL_VISUALODOM_ENABLED
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& visodom_checks(report)
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#endif
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#if AP_ARMING_AUX_AUTH_ENABLED
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& aux_auth_checks(report)
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#endif
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#if AP_RC_CHANNEL_ENABLED
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& disarm_switch_checks(report)
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#endif
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#if AP_FENCE_ENABLED
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& fence_checks(report)
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#endif
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#if AP_OPENDRONEID_ENABLED
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& opendroneid_checks(report)
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#endif
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& serial_protocol_checks(report)
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& estop_checks(report);
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@ -1827,6 +1863,7 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
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}
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#endif // AP_RC_CHANNEL_ENABLED
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#if HAL_VISUALODOM_ENABLED
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// check visual odometry is working
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bool AP_Arming::visodom_checks(bool display_failure) const
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{
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@ -1834,7 +1871,6 @@ bool AP_Arming::visodom_checks(bool display_failure) const
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return true;
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}
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#if HAL_VISUALODOM_ENABLED
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AP_VisualOdom *visual_odom = AP::visualodom();
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if (visual_odom != nullptr) {
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char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
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@ -1843,10 +1879,10 @@ bool AP_Arming::visodom_checks(bool display_failure) const
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return false;
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}
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}
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#endif
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return true;
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}
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#endif
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#if AP_RC_CHANNEL_ENABLED
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// check disarm switch is asserted
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@ -6,6 +6,7 @@
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#include "AP_Arming_config.h"
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#include "AP_InertialSensor/AP_InertialSensor_config.h"
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#include "AP_Proximity/AP_Proximity_config.h"
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class AP_Arming {
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public:
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@ -237,7 +238,9 @@ protected:
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bool kdecan_checks(bool display_failure) const;
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#if HAL_PROXIMITY_ENABLED
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virtual bool proximity_checks(bool report) const;
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#endif
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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;
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