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APMrover2: log disarm method

This commit is contained in:
Peter Barker 2020-02-22 00:09:57 +11:00 committed by Andrew Tridgell
parent 347f64264d
commit 98c999d0de
7 changed files with 10 additions and 10 deletions
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4
APMrover2/AP_Arming.cpp
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@ -135,9 +135,9 @@ bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
/* /*
disarm motors disarm motors
*/ */
bool AP_Arming_Rover::disarm(void) bool AP_Arming_Rover::disarm(const AP_Arming::Method method)
{ {
if (!AP_Arming::disarm()) { if (!AP_Arming::disarm(method)) {
return false; return false;
} }
if (rover.control_mode != &rover.mode_auto) { if (rover.control_mode != &rover.mode_auto) {

2
APMrover2/AP_Arming.h
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@ -21,7 +21,7 @@ public:
bool rc_calibration_checks(const bool display_failure) override; bool rc_calibration_checks(const bool display_failure) override;
bool gps_checks(bool display_failure) override; bool gps_checks(bool display_failure) override;
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
APMrover2/afs_rover.cpp
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@ -12,7 +12,7 @@
void AP_AdvancedFailsafe_Rover::terminate_vehicle(void) void AP_AdvancedFailsafe_Rover::terminate_vehicle(void)
{ {
// disarm as well // disarm as well
AP::arming().disarm(); AP::arming().disarm(AP_Arming::Method::AFS);
// Set to HOLD mode // Set to HOLD mode
rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE); rover.set_mode(rover.mode_hold, ModeReason::CRASH_FAILSAFE);

4
APMrover2/crash_check.cpp
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@ -51,14 +51,14 @@ void Rover::crash_check()
if (is_balancebot()) { if (is_balancebot()) {
// send message to gcs // send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming"); gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
arming.disarm(); arming.disarm(AP_Arming::Method::CRASH);
} else { } else {
// send message to gcs // send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD"); gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
// change mode to hold and disarm // change mode to hold and disarm
set_mode(mode_hold, ModeReason::CRASH_FAILSAFE); set_mode(mode_hold, ModeReason::CRASH_FAILSAFE);
if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) { if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
arming.disarm(); arming.disarm(AP_Arming::Method::CRASH);
} }
} }
} }

4
APMrover2/failsafe.cpp
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@ -37,7 +37,7 @@ void Rover::failsafe_check()
// To-Do: log error // To-Do: log error
if (arming.is_armed()) { if (arming.is_armed()) {
// disarm motors // disarm motors
arming.disarm(); arming.disarm(AP_Arming::Method::CPUFAILSAFE);
} }
} }
} }
@ -137,7 +137,7 @@ void Rover::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);
g2.afs.gcs_terminate(true, battery_type_str); g2.afs.gcs_terminate(true, battery_type_str);
#else #else
arming.disarm(); arming.disarm(AP_Arming::Method::BATTERYFAILSAFE);
#endif // ADVANCED_FAILSAFE == ENABLED #endif // ADVANCED_FAILSAFE == ENABLED
break; break;
} }

2
APMrover2/motor_test.cpp
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@ -159,7 +159,7 @@ void Rover::motor_test_stop()
} }
// disarm motors // disarm motors
AP::arming().disarm(); AP::arming().disarm(AP_Arming::Method::MOTORTEST);
// reset timeout // reset timeout
motor_test_start_ms = 0; motor_test_start_ms = 0;

2
APMrover2/radio.cpp
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@ -98,7 +98,7 @@ void Rover::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 {