From 593f035c5310fb01427440a486a532f28fc6581d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 28 Dec 2016 14:41:21 +0900
Subject: [PATCH] AP_Arming: remove required, min-volt, min-volt2 params from
 Copter

---
 libraries/AP_Arming/AP_Arming.cpp | 27 +++++++++++++++++++++++++--
 libraries/AP_Arming/AP_Arming.h   |  1 +
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 3a8d3e7e2b..608fe5679a 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -31,12 +31,15 @@
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_Arming::var_info[] = {
+
+#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
     // @Param: REQUIRE
     // @DisplayName: Require Arming Motors 
     // @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 send THR_MIN PWM to 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. This parameter is relevant for ArduPlane only.
     // @Values: 0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed
     // @User: Advanced
     AP_GROUPINFO_FLAGS("REQUIRE",     0,      AP_Arming,  require,                 1, AP_PARAM_NO_SHIFT),
+#endif
 
     // @Param: CHECK
     // @DisplayName: Arm Checks to Peform (bitmask)
@@ -54,6 +57,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("ACCTHRESH",    3,     AP_Arming,  accel_error_threshold,  AP_ARMING_ACCEL_ERROR_THRESHOLD),
 
+#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
     // @Param: MIN_VOLT
     // @DisplayName: Minimum arming voltage on the first battery
     // @Description: The minimum voltage on the first battery to arm, 0 disables the check.  This parameter is relevant for ArduPlane only.
@@ -69,6 +73,7 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     // @Increment: 0.1 
     // @User: Standard
     AP_GROUPINFO("MIN_VOLT2",     5,     AP_Arming,  _min_voltage[1],  0),
+#endif
 
     AP_GROUPEND
 };
@@ -85,6 +90,12 @@ AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &comp
     arming_method(NONE)
 {
     AP_Param::setup_object_defaults(this, var_info);
+
+#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+    // default REQUIRE parameter to 1 (needed for Copter which is missing the parameter declaration above)
+    require.set_default(YES_MIN_PWM);
+#endif
+
     memset(last_accel_pass_ms, 0, sizeof(last_accel_pass_ms));
     memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms));
 }
@@ -95,8 +106,8 @@ uint16_t AP_Arming::compass_magfield_expected() const
 }
 
 bool AP_Arming::is_armed()
-{ 
-    return require == NONE || armed; 
+{
+    return require == NONE || armed;
 }
 
 uint16_t AP_Arming::get_enabled_checks()
@@ -450,11 +461,13 @@ bool AP_Arming::board_voltage_checks(bool report)
 
 bool AP_Arming::pre_arm_checks(bool report)
 {
+#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
     if (armed || require == NONE) {
         // if we are already armed or don't need any arming checks
         // then skip the checks
         return true;
     }
+#endif
 
     return hardware_safety_check(report)
         &  barometer_checks(report)
@@ -482,6 +495,10 @@ bool AP_Arming::arm_checks(uint8_t method)
 //returns true if arming occurred successfully
 bool AP_Arming::arm(uint8_t method)
 {
+#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+    // Copter should never use this function
+    return false;
+#else
     if (armed) { //already armed
         return false;
     }
@@ -509,11 +526,16 @@ bool AP_Arming::arm(uint8_t method)
     }
 
     return armed;
+#endif
 }
 
 //returns true if disarming occurred successfully
 bool AP_Arming::disarm() 
 {
+#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+    // Copter should never use this function
+    return false;
+#else
     if (!armed) { // already disarmed
         return false;
     }
@@ -525,6 +547,7 @@ bool AP_Arming::disarm()
     //Can't do this from this class until there is a unified logging library.
 
     return true;
+#endif
 }
 
 AP_Arming::ArmingRequired AP_Arming::arming_required() 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index cbc372512c..fcfe6d86ba 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -40,6 +40,7 @@ public:
     AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
               const AP_BattMonitor &battery);
 
+    // these functions should not be used by Copter which holds the armed state in the motors library
     ArmingRequired arming_required();
     virtual bool arm(uint8_t method);
     bool disarm();