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AP_Arming: make it possible to change ARMING_REQUIRED without a reboot

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This commit is contained in:
Andrew Tridgell 2013-12-11 17:02:25 +11:00
parent 3508a14542
commit 4a77a944fa
2 changed files with 43 additions and 34 deletions
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73
libraries/AP_Arming/AP_Arming.cpp
View File

@ -47,7 +47,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] PROGMEM = {
//The function point is particularly hacky, hacky, tacky //The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment: //but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
const bool &home_set, gcs_send_t_p gcs_print_func) const bool &home_set, gcs_send_t_p gcs_print_func)
: armed(false) : armed(false)
, arming_method(NONE) , arming_method(NONE)
, ahrs(ahrs_ref) , ahrs(ahrs_ref)
@ -58,9 +58,13 @@ AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
bool AP_Arming::is_armed() { return armed; } bool AP_Arming::is_armed()
{
return require == NONE || armed;
}
uint16_t AP_Arming::get_enabled_checks() { uint16_t AP_Arming::get_enabled_checks()
{
return checks_to_perform; return checks_to_perform;
} }
@ -68,9 +72,10 @@ void AP_Arming::set_enabled_checks(uint16_t ap) {
checks_to_perform = ap; checks_to_perform = ap;
} }
bool AP_Arming::barometer_checks() { bool AP_Arming::barometer_checks()
if (checks_to_perform & ARMING_CHECK_ALL || {
checks_to_perform & ARMING_CHECK_BARO) { if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BARO)) {
if (! barometer.healthy) { if (! barometer.healthy) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy!")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy!"));
return false; return false;
@ -80,9 +85,10 @@ bool AP_Arming::barometer_checks() {
return true; return true;
} }
bool AP_Arming::compass_checks() { bool AP_Arming::compass_checks()
if (checks_to_perform & ARMING_CHECK_ALL || {
checks_to_perform & ARMING_CHECK_COMPASS) { if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) {
const Compass* compass = ahrs.get_compass(); const Compass* compass = ahrs.get_compass();
//if there is no compass and the user has specifically asked to check //if there is no compass and the user has specifically asked to check
@ -112,9 +118,10 @@ bool AP_Arming::compass_checks() {
return true; return true;
} }
bool AP_Arming::gps_checks() { bool AP_Arming::gps_checks()
if (checks_to_perform & ARMING_CHECK_ALL || {
checks_to_perform & ARMING_CHECK_GPS) { if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) {
const GPS *gps = ahrs.get_gps(); const GPS *gps = ahrs.get_gps();
//If no GPS and the user has specifically asked to check GPS, then //If no GPS and the user has specifically asked to check GPS, then
@ -129,8 +136,8 @@ bool AP_Arming::gps_checks() {
//GPS OK? //GPS OK?
if (!home_is_set || gps->status() != GPS::GPS_OK_FIX_3D || if (!home_is_set || gps->status() != GPS::GPS_OK_FIX_3D ||
AP_Notify::flags.gps_glitching || AP_Notify::flags.gps_glitching ||
AP_Notify::flags.failsafe_gps) { AP_Notify::flags.failsafe_gps) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
return false; return false;
} }
@ -139,9 +146,10 @@ bool AP_Arming::gps_checks() {
return true; return true;
} }
bool AP_Arming::battery_checks() { bool AP_Arming::battery_checks()
if (checks_to_perform & ARMING_CHECK_ALL || {
checks_to_perform & ARMING_CHECK_BATTERY) { if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BATTERY)) {
if (AP_Notify::flags.failsafe_battery) { if (AP_Notify::flags.failsafe_battery) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Battery failsafe on.")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Battery failsafe on."));
@ -152,7 +160,8 @@ bool AP_Arming::battery_checks() {
return true; return true;
} }
bool AP_Arming::hardware_safety_check() { bool AP_Arming::hardware_safety_check()
{
// check if safety switch has been pushed // check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) { if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Hardware Safety Switch")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Hardware Safety Switch"));
@ -162,9 +171,10 @@ bool AP_Arming::hardware_safety_check() {
return true; return true;
} }
bool AP_Arming::manual_transmitter_checks() { bool AP_Arming::manual_transmitter_checks()
if (checks_to_perform & ARMING_CHECK_ALL || {
checks_to_perform & ARMING_CHECK_RC) { if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_RC)) {
if (AP_Notify::flags.failsafe_radio) { if (AP_Notify::flags.failsafe_radio) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Radio failsafe on.")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Radio failsafe on."));
@ -179,7 +189,8 @@ bool AP_Arming::manual_transmitter_checks() {
return true; return true;
} }
bool AP_Arming::pre_arm_checks() { bool AP_Arming::pre_arm_checks()
{
if (! hardware_safety_check()) if (! hardware_safety_check())
return false; return false;
@ -203,7 +214,8 @@ bool AP_Arming::pre_arm_checks() {
} }
//returns true if arming occured successfully //returns true if arming occured successfully
bool AP_Arming::arm(uint8_t method) { bool AP_Arming::arm(uint8_t method)
{
if (armed) { //already armed if (armed) { //already armed
return false; return false;
} }
@ -234,7 +246,8 @@ bool AP_Arming::arm(uint8_t method) {
} }
//returns true if disarming occurred successfully //returns true if disarming occurred successfully
bool AP_Arming::disarm() { bool AP_Arming::disarm()
{
if (! armed) { // already disarmed if (! armed) { // already disarmed
return false; return false;
} }
@ -248,17 +261,15 @@ bool AP_Arming::disarm() {
return true; return true;
} }
uint8_t AP_Arming::arming_required() { AP_Arming::ArmingRequired AP_Arming::arming_required()
return require.get(); {
return (AP_Arming::ArmingRequired)require.get();
} }
bool AP_Arming::rudder_arming_enabled() { bool AP_Arming::rudder_arming_enabled()
{
if (disable_rudder_arm == 0) if (disable_rudder_arm == 0)
return true; return true;
return false; return false;
} }
uint8_t AP_Arming::get_arming_method() {
return arming_method;
}

4
libraries/AP_Arming/AP_Arming.h
View File

@ -41,7 +41,7 @@ public:
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
const bool &home_set, gcs_send_t_p); const bool &home_set, gcs_send_t_p);
uint8_t arming_required(); ArmingRequired arming_required();
bool arm(uint8_t method); bool arm(uint8_t method);
bool disarm(); bool disarm();
bool is_armed(); bool is_armed();
@ -83,8 +83,6 @@ private:
bool manual_transmitter_checks(); bool manual_transmitter_checks();
bool pre_arm_checks(); bool pre_arm_checks();
uint8_t get_arming_method();
}; };
#endif //__AP_ARMING_H__ #endif //__AP_ARMING_H__