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AP_Arming: log disarm method

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This commit is contained in:
Peter Barker 2020-02-22 00:09:57 +11:00 committed by Andrew Tridgell
parent 05a0fe615b
commit 7b9cdd6d06
2 changed files with 30 additions and 6 deletions
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8
libraries/AP_Arming/AP_Arming.cpp
View File

@ -943,14 +943,14 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
}
//returns true if disarming occurred successfully
bool AP_Arming::disarm()
bool AP_Arming::disarm(const AP_Arming::Method method)
{
if (!armed) { // already disarmed
return false;
}
armed = false;
Log_Write_Disarm(); // should be able to pass through method and/or force here?
Log_Write_Disarm(method); // should be able to pass through force here?
#if HAL_HAVE_SAFETY_SWITCH
AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton();
@ -1035,7 +1035,7 @@ void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
AP::logger().Write_Event(LogEvent::ARMED);
}
void AP_Arming::Log_Write_Disarm()
void AP_Arming::Log_Write_Disarm(const AP_Arming::Method method)
{
const struct log_Arm_Disarm pkt {
LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
@ -1043,7 +1043,7 @@ void AP_Arming::Log_Write_Disarm()
arm_state : is_armed(),
arm_checks : 0,
forced : 0,
method : 0
method : (uint8_t)method
};
AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
AP::logger().Write_Event(LogEvent::DISARMED);

28
libraries/AP_Arming/AP_Arming.h
View File

@ -42,6 +42,30 @@ public:
AUXSWITCH = 2,
MOTORTEST = 3,
SCRIPTING = 4,
TERMINATION = 5, // only disarm uses this...
CPUFAILSAFE = 6, // only disarm uses this...
BATTERYFAILSAFE = 7, // only disarm uses this...
SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
AFS = 9, // only disarm uses this...
ADSBCOLLISIONACTION = 10, // only disarm uses this...
PARACHUTE_RELEASE = 11, // only disarm uses this...
CRASH = 12, // only disarm uses this...
LANDED = 13, // only disarm uses this...
MISSIONEXIT = 14, // only disarm uses this...
FENCEBREACH = 15, // only disarm uses this...
RADIOFAILSAFE = 16, // only disarm uses this...
DISARMDELAY = 17, // only disarm uses this...
GCSFAILSAFE = 18, // only disarm uses this...
TERRRAINFAILSAFE = 19, // only disarm uses this...
FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
TERRAINFAILSAFE = 21, // only disarm uses this...
MOTORDETECTDONE = 22, // only disarm uses this...
BADFLOWOFCONTROL = 23, // only disarm uses this...
EKFFAILSAFE = 24, // only disarm uses this...
GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
TAKEOFFTIMEOUT = 27, // only disarm uses this...
AUTOLANDED = 28, // only disarm uses this...
};
enum class Required {
@ -55,7 +79,7 @@ public:
// these functions should not be used by Copter which holds the armed state in the motors library
Required arming_required();
virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
virtual bool disarm();
virtual bool disarm(AP_Arming::Method method);
bool is_armed();
// get bitmask of enabled checks
@ -148,7 +172,7 @@ protected:
void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
void Log_Write_Arm(bool forced, AP_Arming::Method method);
void Log_Write_Disarm();
void Log_Write_Disarm(AP_Arming::Method method);
private: