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Plane: Move the plane centric arming code into arming_checks.cpp

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Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
This commit is contained in:
Grant Morphett 2015-08-24 13:53:15 +10:00 committed by Andrew Tridgell
parent 305ec7b08a
commit 3cb0c1bba8
3 changed files with 26 additions and 3 deletions
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4
ArduPlane/Parameters.cpp
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@ -984,8 +984,8 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
#endif
// @Group: ARMING_
// @Path: ../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming),
// @Path: arming_checks.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Plane),
// @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp

7
ArduPlane/Plane.h
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@ -118,8 +118,13 @@ class AP_Arming_Plane : public AP_Arming
public:
AP_Arming_Plane(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set, gcs_send_t_p gcs_send) :
AP_Arming(ahrs_ref, baro, compass, home_set, gcs_send) {}
AP_Arming(ahrs_ref, baro, compass, home_set, gcs_send) {
AP_Param::setup_object_defaults(this, var_info);
}
bool pre_arm_checks(bool report);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
};
/*

18
ArduPlane/arming_checks.cpp
View File

@ -4,6 +4,21 @@
*/
#include "Plane.h"
const AP_Param::GroupInfo AP_Arming_Plane::var_info[] PROGMEM = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Arming, 0),
// @Param: RUDDER
// @DisplayName: Rudder Arming
// @Description: Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
// @User: Advanced
AP_GROUPINFO("RUDDER", 3, AP_Arming_Plane, rudder_arming_value, ARMING_RUDDER_ARMONLY),
AP_GROUPEND
};
/*
additional arming checks for plane
*/
@ -12,6 +27,9 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
// call parent class checks
bool ret = AP_Arming::pre_arm_checks(report);
// Check airspeed sensor
ret &= AP_Arming::airspeed_checks(report);
if (plane.g.roll_limit_cd < 300) {
if (report) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: LIM_ROLL_CD too small"));