From 4fa548c86c7bdb667bf72fb99deb1faf5f8acfc5 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Thu, 12 Aug 2021 11:50:37 +0200
Subject: [PATCH] AP_Arming: call fettec prearm checks

---
 libraries/AP_Arming/AP_Arming.cpp | 20 ++++++++++++++++++++
 libraries/AP_Arming/AP_Arming.h   |  2 ++
 2 files changed, 22 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index f56c23b36c..3f72694d6a 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -40,6 +40,7 @@
 #include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_OSD/AP_OSD.h>
+#include <AP_FETtecOneWire/AP_FETtecOneWire.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
   #include <AP_CANManager/AP_CANManager.h>
@@ -995,6 +996,24 @@ bool AP_Arming::osd_checks(bool display_failure) const
     return true;
 }
 
+bool AP_Arming::fettec_checks(bool display_failure) const
+{
+#if HAL_AP_FETTEC_ONEWIRE_ENABLED
+    const AP_FETtecOneWire *f = AP_FETtecOneWire::get_singleton();
+    if (f == nullptr) {
+        return true;
+    }
+
+    // check camera is ready
+    char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
+    if (!f->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
+        check_failed(ARMING_CHECK_ALL, display_failure, "FETtec: %s", fail_msg);
+        return false;
+    }
+#endif
+    return true;
+}
+
 // request an auxiliary authorisation id.  This id should be used in subsequent calls to set_aux_auth_passed/failed
 // returns true on success
 bool AP_Arming::get_aux_auth_id(uint8_t& auth_id)
@@ -1156,6 +1175,7 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  proximity_checks(report)
         &  camera_checks(report)
         &  osd_checks(report)
+        &  fettec_checks(report)
         &  visodom_checks(report)
         &  aux_auth_checks(report)
         &  disarm_switch_checks(report)
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 6368bd60a9..de00cb6df9 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -180,6 +180,8 @@ protected:
 
     bool can_checks(bool report);
 
+    bool fettec_checks(bool display_failure) const;
+
     virtual bool proximity_checks(bool report) const;
 
     bool servo_checks(bool report) const;