From 7b3a6434de632022256e98b73f24b389beb95d6e Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Thu, 20 Feb 2025 12:21:54 +1100
Subject: [PATCH] AP_Arming: add reset_all_aux_auths

---
 libraries/AP_Arming/AP_Arming.cpp | 21 +++++++++++++++++++++
 libraries/AP_Arming/AP_Arming.h   |  1 +
 2 files changed, 22 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 7e6150c858..78713fb304 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1464,6 +1464,27 @@ void AP_Arming::set_aux_auth_failed(uint8_t auth_id, const char* fail_msg)
     }
 }
 
+void AP_Arming::reset_all_aux_auths()
+{
+    WITH_SEMAPHORE(aux_auth_sem);
+
+    // clear all auxiliary authorisation ids
+    aux_auth_count = 0;
+    // clear any previous allocation errors
+    aux_auth_error = false;
+
+    // reset states for all auxiliary authorisation ids
+    for (uint8_t i = 0; i < aux_auth_count_max; i++) {
+        aux_auth_state[i] = AuxAuthStates::NO_RESPONSE;
+    }
+
+    // free up the failure message buffer
+    if (aux_auth_fail_msg != nullptr) {
+        free(aux_auth_fail_msg);
+        aux_auth_fail_msg = nullptr;
+    }
+}
+
 bool AP_Arming::aux_auth_checks(bool display_failure)
 {
     // handle error cases
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 1ee68e9349..bd647cd355 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -129,6 +129,7 @@ public:
     bool get_aux_auth_id(uint8_t& auth_id);
     void set_aux_auth_passed(uint8_t auth_id);
     void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
+    void reset_all_aux_auths();
 #endif
 
     static const struct AP_Param::GroupInfo        var_info[];