AP_Arming: added OpenDroneID support

libraries/AP_Arming/AP_Arming.cpp

@@ -199,6 +199,21 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
     va_end(arg_list);
 }
 
+// OpenDroneID Checks
+bool AP_Arming::opendroneid_checks(bool display_failure)
+{
+#if AP_OPENDRONEID_ENABLED
+    auto &opendroneid = AP::opendroneid();
+
+    char failure_msg[50] {};
+    if (!opendroneid.pre_arm_check(failure_msg, sizeof(failure_msg))) {
+        check_failed(display_failure, "OpenDroneID: %s", failure_msg);
+        return false;
+    }
+#endif
+    return true;
+}
+
 bool AP_Arming::barometer_checks(bool report)
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
@@ -1180,7 +1195,8 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  visodom_checks(report)
         &  aux_auth_checks(report)
         &  disarm_switch_checks(report)
-        &  fence_checks(report);
+        &  fence_checks(report)
+        &  opendroneid_checks(report);
 }
 
 bool AP_Arming::arm_checks(AP_Arming::Method method)
@@ -1243,6 +1259,11 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
         return false;
     }
 
+    if (!opendroneid_checks(true)) {
+        AP::logger().arming_failure();
+        return false;
+    }
+
     if ((!do_arming_checks && mandatory_checks(true)) || (pre_arm_checks(true) && arm_checks(method))) {
         armed = true;
 

libraries/AP_Arming/AP_Arming.h

@@ -140,6 +140,8 @@ protected:
 
     virtual bool barometer_checks(bool report);
 
+    virtual bool opendroneid_checks(bool display_failure);
+
     bool airspeed_checks(bool report);
 
     bool logging_checks(bool report);