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AP_Arming: formatting changes

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This commit is contained in:
Randy Mackay 2015-10-12 14:29:27 +09:00
parent 6f36267a66
commit 6b91beb3ff
2 changed files with 45 additions and 47 deletions
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60
libraries/AP_Arming/AP_Arming.cpp
View File

@ -41,39 +41,40 @@ const AP_Param::GroupInfo AP_Arming::var_info[] PROGMEM = {
//The function point is particularly hacky, hacky, tacky //The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment: //but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass, AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set) const enum HomeState &home_set) :
: armed(false) ahrs(ahrs_ref),
, logging_available(false) barometer(baro),
, arming_method(NONE) _compass(compass),
, ahrs(ahrs_ref) home_is_set(home_set),
, barometer(baro) armed(false),
, _compass(compass) logging_available(false),
, home_is_set(home_set) arming_method(NONE)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
memset(last_accel_pass_ms, 0, sizeof(last_accel_pass_ms)); memset(last_accel_pass_ms, 0, sizeof(last_accel_pass_ms));
memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms)); memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms));
} }
bool AP_Arming::is_armed() bool AP_Arming::is_armed()
{ {
return require == NONE || armed; return require == NONE || armed;
} }
uint16_t AP_Arming::get_enabled_checks() uint16_t AP_Arming::get_enabled_checks()
{ {
return checks_to_perform; return checks_to_perform;
} }
void AP_Arming::set_enabled_checks(uint16_t ap) { void AP_Arming::set_enabled_checks(uint16_t ap)
{
checks_to_perform = ap; checks_to_perform = ap;
} }
bool AP_Arming::barometer_checks(bool report) bool AP_Arming::barometer_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BARO)) { (checks_to_perform & ARMING_CHECK_BARO)) {
if (! barometer.healthy()) { if (!barometer.healthy()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Barometer not healthy!")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Barometer not healthy!"));
} }
@ -84,7 +85,7 @@ bool AP_Arming::barometer_checks(bool report)
return true; return true;
} }
bool AP_Arming::airspeed_checks(bool report) bool AP_Arming::airspeed_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_AIRSPEED)) { (checks_to_perform & ARMING_CHECK_AIRSPEED)) {
@ -104,7 +105,7 @@ bool AP_Arming::airspeed_checks(bool report)
return true; return true;
} }
bool AP_Arming::logging_checks(bool report) bool AP_Arming::logging_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) { (checks_to_perform & ARMING_CHECK_LOGGING)) {
@ -118,12 +119,12 @@ bool AP_Arming::logging_checks(bool report)
return true; return true;
} }
bool AP_Arming::ins_checks(bool report) bool AP_Arming::ins_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) { (checks_to_perform & ARMING_CHECK_INS)) {
const AP_InertialSensor &ins = ahrs.get_ins(); const AP_InertialSensor &ins = ahrs.get_ins();
if (! ins.get_gyro_health_all()) { if (!ins.get_gyro_health_all()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not healthy!")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not healthy!"));
} }
@ -135,7 +136,7 @@ bool AP_Arming::ins_checks(bool report)
} }
return false; return false;
} }
if (! ins.get_accel_health_all()) { if (!ins.get_accel_health_all()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: accels not healthy!")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: accels not healthy!"));
} }
@ -215,7 +216,7 @@ bool AP_Arming::ins_checks(bool report)
return true; return true;
} }
bool AP_Arming::compass_checks(bool report) bool AP_Arming::compass_checks(bool report)
{ {
if ((checks_to_perform) & ARMING_CHECK_ALL || if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) { (checks_to_perform) & ARMING_CHECK_COMPASS) {
@ -240,7 +241,7 @@ bool AP_Arming::compass_checks(bool report)
} }
//check if compass is calibrating //check if compass is calibrating
if(_compass.is_calibrating()) { if (_compass.is_calibrating()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Arm: Compass calibration running")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Arm: Compass calibration running"));
} }
@ -248,7 +249,7 @@ bool AP_Arming::compass_checks(bool report)
} }
//check if compass has calibrated and requires reboot //check if compass has calibrated and requires reboot
if(_compass.compass_cal_requires_reboot()) { if (_compass.compass_cal_requires_reboot()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass calibrated requires reboot")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass calibrated requires reboot"));
} }
@ -284,7 +285,7 @@ bool AP_Arming::compass_checks(bool report)
return true; return true;
} }
bool AP_Arming::gps_checks(bool report) bool AP_Arming::gps_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) { (checks_to_perform & ARMING_CHECK_GPS)) {
@ -297,20 +298,20 @@ bool AP_Arming::gps_checks(bool report)
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Bad GPS Position")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Bad GPS Position"));
} }
return false; return false;
} }
} }
return true; return true;
} }
bool AP_Arming::battery_checks(bool report) bool AP_Arming::battery_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BATTERY)) { (checks_to_perform & ARMING_CHECK_BATTERY)) {
if (AP_Notify::flags.failsafe_battery) { if (AP_Notify::flags.failsafe_battery) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on.")); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on"));
} }
return false; return false;
} }
@ -332,7 +333,7 @@ bool AP_Arming::hardware_safety_check(bool report)
return true; return true;
} }
bool AP_Arming::manual_transmitter_checks(bool report) bool AP_Arming::manual_transmitter_checks(bool report)
{ {
if ((checks_to_perform & ARMING_CHECK_ALL) || if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_RC)) { (checks_to_perform & ARMING_CHECK_RC)) {
@ -352,7 +353,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
return true; return true;
} }
bool AP_Arming::pre_arm_checks(bool report) bool AP_Arming::pre_arm_checks(bool report)
{ {
bool ret = true; bool ret = true;
if (armed || require == NONE) { if (armed || require == NONE) {
@ -374,7 +375,7 @@ bool AP_Arming::pre_arm_checks(bool report)
} }
//returns true if arming occured successfully //returns true if arming occured successfully
bool AP_Arming::arm(uint8_t method) bool AP_Arming::arm(uint8_t method)
{ {
if (armed) { //already armed if (armed) { //already armed
return false; return false;
@ -408,7 +409,7 @@ bool AP_Arming::arm(uint8_t method)
//returns true if disarming occurred successfully //returns true if disarming occurred successfully
bool AP_Arming::disarm() bool AP_Arming::disarm()
{ {
if (! armed) { // already disarmed if (!armed) { // already disarmed
return false; return false;
} }
armed = false; armed = false;
@ -425,4 +426,3 @@ AP_Arming::ArmingRequired AP_Arming::arming_required()
{ {
return (AP_Arming::ArmingRequired)require.get(); return (AP_Arming::ArmingRequired)require.get();
} }

32
libraries/AP_Arming/AP_Arming.h
View File

@ -61,28 +61,26 @@ public:
void set_logging_available(bool set) { logging_available = set; } void set_logging_available(bool set) { logging_available = set; }
//for params
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
bool armed:1; // Parameters
bool logging_available:1; AP_Int8 require;
AP_Int8 rudder_arming_value;
AP_Int16 checks_to_perform; // bitmask for which checks are required
//Parameters // references
AP_Int8 require; const AP_AHRS &ahrs;
AP_Int8 rudder_arming_value; const AP_Baro &barometer;
//bitmask for which checks are required Compass &_compass;
AP_Int16 checks_to_perform; const enum HomeState &home_is_set;
//how the vehicle was armed // internal members
uint8_t arming_method; bool armed:1;
bool logging_available:1;
const AP_AHRS &ahrs; uint8_t arming_method; // how the vehicle was armed
const AP_Baro &barometer; uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
Compass &_compass; uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
const enum HomeState &home_is_set;
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
void set_enabled_checks(uint16_t); void set_enabled_checks(uint16_t);