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ArduPlane: log disarm method

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This commit is contained in:
Peter Barker 2020-02-22 00:09:58 +11:00 committed by Andrew Tridgell
parent ce5f23810b
commit 74dbcac40e
9 changed files with 10 additions and 10 deletions
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4
ArduPlane/AP_Arming.cpp
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@ -189,9 +189,9 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
/* /*
disarm motors disarm motors
*/ */
bool AP_Arming_Plane::disarm(void) bool AP_Arming_Plane::disarm(const AP_Arming::Method method)
{ {
if (!AP_Arming::disarm()) { if (!AP_Arming::disarm(method)) {
return false; return false;
} }
if (plane.control_mode != &plane.mode_auto) { if (plane.control_mode != &plane.mode_auto) {

2
ArduPlane/AP_Arming.h
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@ -24,7 +24,7 @@ public:
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
bool disarm() override; bool disarm(AP_Arming::Method method) override;
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override; bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
void update_soft_armed(); void update_soft_armed();

2
ArduPlane/ArduPlane.cpp
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@ -653,7 +653,7 @@ void Plane::disarm_if_autoland_complete()
arming.is_armed()) { arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */ /* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) { if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
if (arming.disarm()) { if (arming.disarm(AP_Arming::Method::AUTOLANDED)) {
gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed"); gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
} }
} }

2
ArduPlane/afs_plane.cpp
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@ -53,7 +53,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
plane.quadplane.afs_terminate(); plane.quadplane.afs_terminate();
// also disarm to ensure that ignition is cut // also disarm to ensure that ignition is cut
plane.arming.disarm(); plane.arming.disarm(AP_Arming::Method::AFS);
} }
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void) void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)

2
ArduPlane/commands_logic.cpp
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@ -559,7 +559,7 @@ bool Plane::verify_takeoff()
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) { if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed); gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed);
plane.arming.disarm(); plane.arming.disarm(AP_Arming::Method::TAKEOFFTIMEOUT);
mission.reset(); mission.reset();
} }
} }

2
ArduPlane/events.cpp
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@ -194,7 +194,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
snprintf(battery_type_str, 17, "%s battery", type_str); snprintf(battery_type_str, 17, "%s battery", type_str);
afs.gcs_terminate(true, battery_type_str); afs.gcs_terminate(true, battery_type_str);
#else #else
arming.disarm(); arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
#endif #endif
break; break;

2
ArduPlane/is_flying.cpp
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@ -305,7 +305,7 @@ void Plane::crash_detection_update(void)
} }
else { else {
if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) { if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
arming.disarm(); arming.disarm(AP_Arming::Method::CRASH);
} }
if (crashed_near_land_waypoint) { if (crashed_near_land_waypoint) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");

2
ArduPlane/quadplane.cpp
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@ -2729,7 +2729,7 @@ void QuadPlane::check_land_complete(void)
return; return;
} }
if (land_detector(4000)) { if (land_detector(4000)) {
plane.arming.disarm(); plane.arming.disarm(AP_Arming::Method::LANDED);
poscontrol.state = QPOS_LAND_COMPLETE; poscontrol.state = QPOS_LAND_COMPLETE;
gcs().send_text(MAV_SEVERITY_INFO,"Land complete"); gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
// reload target airspeed which could have been modified by the mission // reload target airspeed which could have been modified by the mission

2
ArduPlane/radio.cpp
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@ -165,7 +165,7 @@ void Plane::rudder_arm_disarm_check()
} }
} else { } else {
//time to disarm! //time to disarm!
arming.disarm(); arming.disarm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0; rudder_arm_timer = 0;
} }
} else { } else {