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AP_Arming: move REQUIRE_POSITION_FROM_ARMING bit to AP_arming

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while Copter is the only user at the moment, will be useful on Rover shortly
This commit is contained in:
Peter Barker 2025-01-15 15:20:01 +11:00 committed by Randy Mackay
parent 2ac6b5b962
commit 735718098d
2 changed files with 36 additions and 0 deletions
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29
libraries/AP_Arming/AP_Arming.cpp
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@ -85,6 +85,26 @@
#define ARMING_RUDDER_DEFAULT (uint8_t)RudderArming::ARMDISARM #define ARMING_RUDDER_DEFAULT (uint8_t)RudderArming::ARMDISARM
#endif #endif
// find a default value for ARMING_NEED_POS parameter, and determine
// whether the parameter should be shown:
#ifndef AP_ARMING_NEED_LOC_PARAMETER_ENABLED
// determine whether ARMING_NEED_POS is shown:
#if APM_BUILD_COPTER_OR_HELI
#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 1
#else
#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 0
#endif // build types
#endif // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
// if ARMING_NEED_POS is shown, determine what its default should be:
#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
#if APM_BUILD_COPTER_OR_HELI
#define AP_ARMING_NEED_LOC_DEFAULT 0
#else
#error "Unable to find value for AP_ARMING_NEED_LOC_DEFAULT"
#endif // APM_BUILD_TYPE
#endif // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
#ifndef PREARM_DISPLAY_PERIOD #ifndef PREARM_DISPLAY_PERIOD
# define PREARM_DISPLAY_PERIOD 30 # define PREARM_DISPLAY_PERIOD 30
#endif #endif
@ -166,6 +186,15 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
AP_GROUPINFO("CRSDP_IGN", 11, AP_Arming, crashdump_ack.acked, 0), AP_GROUPINFO("CRSDP_IGN", 11, AP_Arming, crashdump_ack.acked, 0),
#endif // AP_ARMING_CRASHDUMP_ACK_ENABLED #endif // AP_ARMING_CRASHDUMP_ACK_ENABLED
#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
// @Param: NEED_LOC
// @DisplayName: Require vehicle location
// @Description: Require that the vehicle have an absolute position before it arms. This can help ensure that the vehicle can Return To Launch.
// @User: Advanced
// @Values{Copter}: 0:Do not require location,1:Require Location
AP_GROUPINFO("NEED_LOC", 12, AP_Arming, require_location, float(AP_ARMING_NEED_LOC_DEFAULT)),
#endif // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
AP_GROUPEND AP_GROUPEND
}; };

7
libraries/AP_Arming/AP_Arming.h
View File

@ -155,6 +155,12 @@ public:
static bool method_is_GCS(Method method) { static bool method_is_GCS(Method method) {
return (method == Method::MAVLINK || method == Method::DDS); return (method == Method::MAVLINK || method == Method::DDS);
} }
enum class RequireLocation : uint8_t {
NO = 0,
YES = 1,
};
protected: protected:
// Parameters // Parameters
@ -165,6 +171,7 @@ protected:
AP_Int32 _required_mission_items; AP_Int32 _required_mission_items;
AP_Int32 _arming_options; AP_Int32 _arming_options;
AP_Int16 magfield_error_threshold; AP_Int16 magfield_error_threshold;
AP_Enum<RequireLocation> require_location;
// internal members // internal members
bool armed; bool armed;