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AP_Arming: added last_arm_method()

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This commit is contained in:
Andrew Tridgell 2023-01-16 16:45:08 +11:00
parent b06df0da49
commit 7d12095deb
2 changed files with 8 additions and 1 deletions
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2
libraries/AP_Arming/AP_Arming.cpp
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@ -1539,6 +1539,8 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
if ((!do_arming_checks && mandatory_checks(true)) || (pre_arm_checks(true) && arm_checks(method))) {
armed = true;
_last_arm_method = method;
Log_Write_Arm(!do_arming_checks, method); // note Log_Write_Armed takes forced not do_arming_checks
} else {

7
libraries/AP_Arming/AP_Arming.h
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@ -124,6 +124,10 @@ public:
// vehicle has been disarmed at least once.
Method last_disarm_method() const { return _last_disarm_method; }
// method that was last used for arm; invalid unless the
// vehicle has been disarmed at least once.
Method last_arm_method() const { return _last_arm_method; }
// enum for ARMING_OPTIONS parameter
enum class Option : int32_t {
DISABLE_PREARM_DISPLAY = (1U << 0),
@ -264,9 +268,10 @@ private:
bool aux_auth_error; // true if too many auxiliary authorisers
HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
// method that was last used for disarm; invalid unless the
// method that was last used for arm/disarm; invalid unless the
// vehicle has been disarmed at least once.
Method _last_disarm_method = Method::UNKNOWN;
Method _last_arm_method = Method::UNKNOWN;
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle