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

Plane: move arming-related functionality into parent classes 

Logging moves up
arming via mavlink moves up
arming via switch moves up
This commit is contained in:
Peter Barker 2019-05-04 09:35:12 +10:00 committed by Randy Mackay
parent 9851ec1ddb
commit 400aa53654
14 changed files with 35 additions and 88 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/AP_Arming.h
View File

@ -24,7 +24,14 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
bool disarm() override;
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
void update_soft_armed();
protected:
bool ins_checks(bool report) override;
private:
void change_arm_state(void);
};

10
ArduPlane/ArduPlane.cpp
View File

@ -129,17 +129,17 @@ void Plane::loop()
G_Dt = scheduler.get_loop_period_s();
}
void Plane::update_soft_armed()
void AP_Arming_Plane::update_soft_armed()
{
hal.util->set_soft_armed(arming.is_armed() &&
hal.util->set_soft_armed(is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
logger.set_vehicle_armed(hal.util->get_soft_armed());
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
}
// update AHRS system
void Plane::ahrs_update()
{
update_soft_armed();
arming.update_soft_armed();
#if HIL_SUPPORT
if (g.hil_mode == 1) {
@ -668,7 +668,7 @@ void Plane::disarm_if_autoland_complete()
arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
if (disarm_motors()) {
if (arming.disarm()) {
gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
}
}

16
ArduPlane/GCS_Mavlink.cpp
View File

@ -851,22 +851,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
plane.set_mode(plane.mode_auto, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (plane.arm_motors(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
} else if (is_zero(packet.param1)) {
if (plane.disarm_motors()) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {

21
ArduPlane/Log.cpp
View File

@ -210,24 +210,6 @@ void Plane::Log_Write_Sonar()
logger.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Arm_Disarm {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t arm_state;
uint16_t arm_checks;
};
void Plane::Log_Arm_Disarm() {
struct log_Arm_Disarm pkt = {
LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
time_us : AP_HAL::micros64(),
arm_state : arming.is_armed(),
arm_checks : arming.get_enabled_checks()
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
}
struct PACKED log_AETR {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -276,8 +258,6 @@ const struct LogStructure Plane::log_structure[] = {
"NTUN", "QfcccfffLLii", "TimeUS,Dist,TBrg,NavBrg,AltErr,XT,XTi,AspdE,TLat,TLng,TAlt,TAspd", "smddmmmnDUmn", "F0BBB0B0GGBB" },
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
"ATRP", "QBBcfff", "TimeUS,Type,State,Servo,Demanded,Achieved,P", "s---dd-", "F---00-" },
{ LOG_STATUS_MSG, sizeof(log_Status),
@ -326,7 +306,6 @@ void Plane::Log_Write_Nav_Tuning() {}
void Plane::Log_Write_Status() {}
void Plane::Log_Write_Sonar() {}
void Plane::Log_Arm_Disarm() {}
void Plane::Log_Write_RC(void) {}
void Plane::Log_Write_Vehicle_Startup_Messages() {}

5
ArduPlane/Plane.h
View File

@ -829,7 +829,6 @@ private:
void Log_Write_Nav_Tuning();
void Log_Write_Status();
void Log_Write_Sonar();
void Log_Arm_Disarm();
void Log_Write_RC(void);
void Log_Write_Vehicle_Startup_Messages();
void Log_Write_AOA_SSA();
@ -947,9 +946,6 @@ private:
void startup_INS_ground(void);
bool should_log(uint32_t mask);
int8_t throttle_percentage(void);
void change_arm_state(void);
bool disarm_motors(void);
bool arm_motors(AP_Arming::Method method, bool do_arming_checks=true);
bool auto_takeoff_check(void);
void takeoff_calc_roll(void);
void takeoff_calc_pitch(void);
@ -1052,7 +1048,6 @@ private:
void publish_osd_info();
#endif
void accel_cal_update(void);
void update_soft_armed();
#if SOARING_ENABLED == ENABLED
void update_soaring();
#endif

14
ArduPlane/RC_Channel.cpp
View File

@ -58,20 +58,6 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
switch(ch_option) {
case AUX_FUNC::ARMDISARM:
// arm or disarm the vehicle
switch (ch_flag) {
case HIGH:
plane.arm_motors(AP_Arming::Method::AUXSWITCH, true);
break;
case MIDDLE:
// nothing
break;
case LOW:
plane.disarm_motors();
break;
}
break;
case AUX_FUNC::INVERTED:
plane.inverted_flight = (ch_flag == HIGH);
break;

2
ArduPlane/afs_plane.cpp
View File

@ -47,7 +47,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
plane.quadplane.afs_terminate();
// also disarm to ensure that ignition is cut
plane.disarm_motors();
plane.arming.disarm();
}
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)

2
ArduPlane/commands_logic.cpp
View File

@ -555,7 +555,7 @@ bool Plane::verify_takeoff()
uint32_t now = AP_HAL::millis();
if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed);
plane.disarm_motors();
plane.arming.disarm();
mission.reset();
}
}

3
ArduPlane/defines.h
View File

@ -117,7 +117,6 @@ enum log_messages {
TYPE_GROUNDSTART_MSG,
LOG_RC_MSG,
LOG_SONAR_MSG,
LOG_ARM_DISARM_MSG,
LOG_STATUS_MSG,
LOG_QTUN_MSG,
LOG_PARAMTUNE_MSG,
@ -145,7 +144,7 @@ enum log_messages {
#define MASK_LOG_CAMERA (1<<12)
#define MASK_LOG_RC (1<<13)
#define MASK_LOG_SONAR (1<<14)
#define MASK_LOG_ARM_DISARM (1<<15)
// #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_IMU_RAW (1UL<<19)
// altitude control algorithms

2
ArduPlane/events.cpp
View File

@ -174,7 +174,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
snprintf(battery_type_str, 17, "%s battery", type_str);
afs.gcs_terminate(true, battery_type_str);
#else
disarm_motors();
arming.disarm();
#endif
break;

2
ArduPlane/is_flying.cpp
View File

@ -305,7 +305,7 @@ void Plane::crash_detection_update(void)
}
else {
if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
disarm_motors();
arming.disarm();
}
if (crashed_near_land_waypoint) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");

2
ArduPlane/quadplane.cpp
View File

@ -2543,7 +2543,7 @@ void QuadPlane::check_land_complete(void)
return;
}
if (land_detector(4000)) {
plane.disarm_motors();
plane.arming.disarm();
poscontrol.state = QPOS_LAND_COMPLETE;
gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
// reload target airspeed which could have been modified by the mission

4
ArduPlane/radio.cpp
View File

@ -146,7 +146,7 @@ void Plane::rudder_arm_disarm_check()
}
} else {
//time to arm!
arm_motors(AP_Arming::Method::RUDDER);
arming.arm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0;
}
} else {
@ -165,7 +165,7 @@ void Plane::rudder_arm_disarm_check()
}
} else {
//time to disarm!
disarm_motors();
arming.disarm();
rudder_arm_timer = 0;
}
} else {

33
ArduPlane/system.cpp
View File

@ -456,21 +456,18 @@ int8_t Plane::throttle_percentage(void)
}
/*
update AHRS soft arm state and log as needed
*/
void Plane::change_arm_state(void)
update HAL soft arm state and log as needed
*/
void AP_Arming_Plane::change_arm_state(void)
{
Log_Arm_Disarm();
Log_Write_Arm_Disarm();
update_soft_armed();
quadplane.set_armed(hal.util->get_soft_armed());
plane.quadplane.set_armed(hal.util->get_soft_armed());
}
/*
arm motors
*/
bool Plane::arm_motors(const AP_Arming::Method method, const bool do_arming_checks)
bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
{
if (!arming.arm(method, do_arming_checks)) {
if (!AP_Arming::arm(method, do_arming_checks)) {
return false;
}
@ -481,18 +478,18 @@ bool Plane::arm_motors(const AP_Arming::Method method, const bool do_arming_chec
/*
disarm motors
*/
bool Plane::disarm_motors(void)
bool AP_Arming_Plane::disarm(void)
{
if (!arming.disarm()) {
if (!AP_Arming::disarm()) {
return false;
}
if (control_mode != &mode_auto) {
if (plane.control_mode != &plane.mode_auto) {
// reset the mission on disarm if we are not in auto
mission.reset();
plane.mission.reset();
}
// suppress the throttle in auto-throttle modes
throttle_suppressed = auto_throttle_mode;
plane.throttle_suppressed = plane.auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
@ -502,10 +499,10 @@ bool Plane::disarm_motors(void)
#if QAUTOTUNE_ENABLED
//save qautotune gains if enabled and success
if (control_mode == &mode_qautotune) {
quadplane.qautotune.save_tuning_gains();
if (plane.control_mode == &plane.mode_qautotune) {
plane.quadplane.qautotune.save_tuning_gains();
} else {
quadplane.qautotune.reset();
plane.quadplane.qautotune.reset();
}
#endif