Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: add OpenDroneID Mandatory Arming Check

Browse Source
This commit is contained in:
Joshua Henderson 2022-07-17 15:37:33 -04:00 committed by Randy Mackay
parent 1fa5e62ca1
commit 57f70080ca
2 changed files with 39 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
libraries/AP_Arming/AP_Arming.cpp
View File

@ -43,6 +43,7 @@
#include <AP_OSD/AP_OSD.h>
#include <AP_Button/AP_Button.h>
#include <AP_FETtecOneWire/AP_FETtecOneWire.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
@ -82,7 +83,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Description: Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.
// @Values: 0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed
// @User: Advanced
AP_GROUPINFO_FLAGS_FRAME("REQUIRE", 0, AP_Arming, require, 1,
AP_GROUPINFO_FLAGS_FRAME("REQUIRE", 0, AP_Arming, require, float(Required::YES_MIN_PWM),
AP_PARAM_FLAG_NO_SHIFT,
AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_ROVER),
@ -151,7 +152,7 @@ uint16_t AP_Arming::compass_magfield_expected() const
bool AP_Arming::is_armed()
{
return (Required)require.get() == Required::NO || armed;
return armed || arming_required() == Required::NO;
}
uint32_t AP_Arming::get_enabled_checks() const
@ -1268,10 +1269,25 @@ bool AP_Arming::generator_checks(bool display_failure) const
return true;
}
// OpenDroneID Checks
bool AP_Arming::opendroneid_checks(bool display_failure)
{
#if AP_OPENDRONEID_ENABLED
auto &opendroneid = AP::opendroneid();
char failure_msg[50] {};
if (!opendroneid.pre_arm_check(failure_msg, sizeof(failure_msg))) {
check_failed(display_failure, "OpenDroneID: %s", failure_msg);
return false;
}
#endif
return true;
}
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_COPTER_OR_HELI
if (armed || require == (uint8_t)Required::NO) {
if (armed || arming_required() == Required::NO) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
@ -1303,7 +1319,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& visodom_checks(report)
& aux_auth_checks(report)
& disarm_switch_checks(report)
& fence_checks(report);
& fence_checks(report)
& opendroneid_checks(report);
}
bool AP_Arming::arm_checks(AP_Arming::Method method)
@ -1354,7 +1371,12 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
bool AP_Arming::mandatory_checks(bool report)
{
return rc_in_calibration_check(report);
bool ret = true;
#if AP_OPENDRONEID_ENABLED
ret &= opendroneid_checks(report);
#endif
ret &= rc_in_calibration_check(report);
return ret;
}
//returns true if arming occurred successfully
@ -1440,7 +1462,15 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
AP_Arming::Required AP_Arming::arming_required()
{
return (AP_Arming::Required)require.get();
#if AP_OPENDRONEID_ENABLED
// cannot be disabled if OpenDroneID is present
if (AP::opendroneid().enabled()) {
if (require != Required::YES_MIN_PWM && require != Required::YES_ZERO_PWM) {
return Required::YES_MIN_PWM;
}
}
#endif
return require;
}
// Copter and sub share the same RC input limits

4
libraries/AP_Arming/AP_Arming.h
View File

@ -127,7 +127,7 @@ public:
protected:
// Parameters
AP_Int8 require;
AP_Enum<Required> require;
AP_Int32 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Int8 _rudder_arming;
@ -182,6 +182,8 @@ protected:
bool generator_checks(bool report) const;
bool opendroneid_checks(bool display_failure);
virtual bool system_checks(bool report);
bool can_checks(bool report);