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AP_Arming: Added DDS Method for Arming/Disarming

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This commit is contained in:
arshPratap 2023-07-24 14:59:19 +05:30 committed by Andrew Tridgell
parent 7f8df080f8
commit 5f17e33b39
5 changed files with 9 additions and 4 deletions
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4
ArduCopter/AP_Arming.cpp
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@ -623,7 +623,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
const char *rc_item = "Throttle"; const char *rc_item = "Throttle";
#endif #endif
// check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto // 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 // above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { 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); 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: // do not allow disarm via mavlink if we think we are flying:
if (do_disarm_checks && if (do_disarm_checks &&
method == AP_Arming::Method::MAVLINK && AP_Arming::method_is_GCS(method) &&
!copter.ap.land_complete) { !copter.ap.land_complete) {
return false; return false;
} }

2
ArduCopter/mode_guided.cpp
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@ -100,7 +100,7 @@ void ModeGuided::run()
bool ModeGuided::allows_arming(AP_Arming::Method method) const bool ModeGuided::allows_arming(AP_Arming::Method method) const
{ {
// always allow arming from the ground station or scripting // 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; return true;
} }

2
ArduPlane/AP_Arming.cpp
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@ -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) bool AP_Arming_Plane::disarm(const AP_Arming::Method method, bool do_disarm_checks)
{ {
if (do_disarm_checks && if (do_disarm_checks &&
(method == AP_Arming::Method::MAVLINK || (AP_Arming::method_is_GCS(method) ||
method == AP_Arming::Method::RUDDER)) { method == AP_Arming::Method::RUDDER)) {
if (plane.is_flying()) { if (plane.is_flying()) {
// don't allow mavlink or rudder disarm while flying // don't allow mavlink or rudder disarm while flying

1
libraries/AP_Arming/AP_Arming.cpp
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@ -1832,6 +1832,7 @@ void AP_Arming::check_forced_logging(const AP_Arming::Method method)
case Method::TOYMODELANDTHROTTLE: case Method::TOYMODELANDTHROTTLE:
case Method::TOYMODELANDFORCE: case Method::TOYMODELANDFORCE:
case Method::LANDING: case Method::LANDING:
case Method::DDS:
case Method::UNKNOWN: case Method::UNKNOWN:
AP::logger().set_long_log_persist(false); AP::logger().set_long_log_persist(false);
return; return;

4
libraries/AP_Arming/AP_Arming.h
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@ -78,6 +78,7 @@ public:
LANDING = 32, // only disarm uses this... LANDING = 32, // only disarm uses this...
DEADRECKON_FAILSAFE = 33, // only disarm uses this... DEADRECKON_FAILSAFE = 33, // only disarm uses this...
BLACKBOX = 34, BLACKBOX = 34,
DDS = 35,
UNKNOWN = 100, UNKNOWN = 100,
}; };
@ -144,6 +145,9 @@ public:
return (_arming_options & uint32_t(option)) != 0; return (_arming_options & uint32_t(option)) != 0;
} }
static bool method_is_GCS(Method method) {
return (method == Method::MAVLINK || method == Method::DDS);
}
protected: protected:
// Parameters // Parameters