Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: be more consistent withb our defines around optional features

This commit is contained in:
Peter Barker 2024-01-04 17:02:47 +11:00 committed by Peter Barker
parent 098277ce6a
commit 35f1fdf0d8
2 changed files with 61 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
libraries/AP_Arming/AP_Arming.cpp
View File

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

3
libraries/AP_Arming/AP_Arming.h
View File

@ -6,6 +6,7 @@
#include "AP_Arming_config.h" #include "AP_Arming_config.h"
#include "AP_InertialSensor/AP_InertialSensor_config.h" #include "AP_InertialSensor/AP_InertialSensor_config.h"
#include "AP_Proximity/AP_Proximity_config.h"
class AP_Arming { class AP_Arming {
public: public:
@ -237,7 +238,9 @@ protected:
bool kdecan_checks(bool display_failure) const; bool kdecan_checks(bool display_failure) const;
#if HAL_PROXIMITY_ENABLED
virtual bool proximity_checks(bool report) const; virtual bool proximity_checks(bool report) const;
#endif
bool servo_checks(bool report) const; bool servo_checks(bool report) const;
bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const; bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;