From 5f17e33b39b9a6e592e217707f86df7369a67b4b Mon Sep 17 00:00:00 2001
From: arshPratap <arshpratapofficial@gmail.com>
Date: Mon, 24 Jul 2023 14:59:19 +0530
Subject: [PATCH] AP_Arming: Added DDS Method for Arming/Disarming

---
 ArduCopter/AP_Arming.cpp          | 4 ++--
 ArduCopter/mode_guided.cpp        | 2 +-
 ArduPlane/AP_Arming.cpp           | 2 +-
 libraries/AP_Arming/AP_Arming.cpp | 1 +
 libraries/AP_Arming/AP_Arming.h   | 4 ++++
 5 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index a51085530b..1bdbc630bc 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -623,7 +623,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
         const char *rc_item = "Throttle";
         #endif
         // check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto 
-        if (!((method == AP_Arming::Method::MAVLINK || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
+        if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
             // above top of deadband is too always high
             if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
                 check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
@@ -790,7 +790,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     // do not allow disarm via mavlink if we think we are flying:
     if (do_disarm_checks &&
-        method == AP_Arming::Method::MAVLINK &&
+        AP_Arming::method_is_GCS(method) &&
         !copter.ap.land_complete) {
         return false;
     }
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index fd313a1c0d..b69bb84b2e 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -100,7 +100,7 @@ void ModeGuided::run()
 bool ModeGuided::allows_arming(AP_Arming::Method method) const
 {
     // always allow arming from the ground station or scripting
-    if (method == AP_Arming::Method::MAVLINK || method == AP_Arming::Method::SCRIPTING) {
+    if (AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) {
         return true;
     }
 
diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 7be7455207..7ab5e92b8e 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -325,7 +325,7 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
 bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks)
 {
     if (do_disarm_checks &&
-        (method == AP_Arming::Method::MAVLINK ||
+        (AP_Arming::method_is_GCS(method) ||
          method == AP_Arming::Method::RUDDER)) {
         if (plane.is_flying()) {
             // don't allow mavlink or rudder disarm while flying
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 6ec165ab84..2bd9814b32 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1832,6 +1832,7 @@ void AP_Arming::check_forced_logging(const AP_Arming::Method method)
         case Method::TOYMODELANDTHROTTLE:
         case Method::TOYMODELANDFORCE:
         case Method::LANDING:
+        case Method::DDS:
         case Method::UNKNOWN:
             AP::logger().set_long_log_persist(false);
             return;
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 0423f94383..a59aad14bd 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -78,6 +78,7 @@ public:
         LANDING = 32, // only disarm uses this...
         DEADRECKON_FAILSAFE = 33, // only disarm uses this...
         BLACKBOX = 34,
+        DDS = 35,
         UNKNOWN = 100,
     };
 
@@ -144,6 +145,9 @@ public:
         return (_arming_options & uint32_t(option)) != 0;
     }
 
+    static bool method_is_GCS(Method method) {
+        return (method == Method::MAVLINK || method == Method::DDS);
+    }
 protected:
 
     // Parameters