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AP_Arming: use prearm-display-timeout in milliseconds instead of counter

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This commit is contained in:
Peter Barker 2022-08-03 15:14:08 +10:00 committed by Andrew Tridgell
parent f666c71676
commit b468c49a39
2 changed files with 13 additions and 6 deletions
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12
libraries/AP_Arming/AP_Arming.cpp
View File

@ -163,14 +163,16 @@ AP_Arming::AP_Arming()
// performs pre-arm checks. expects to be called at 1hz.
void AP_Arming::update(void)
{
const uint32_t now_ms = AP_HAL::millis();
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
pre_arm_display_counter++;
bool display_fail = false;
if ((_arming_options & uint32_t(AP_Arming::ArmingOptions::DISABLE_PREARM_DISPLAY)) == 0 &&
pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
if (now_ms - last_prearm_display_ms > PREARM_DISPLAY_PERIOD*1000) {
display_fail = true;
pre_arm_display_counter = 0;
last_prearm_display_ms = now_ms;
}
// OTOH, the user may never want to display them:
if (option_enabled(Option::DISABLE_PREARM_DISPLAY)) {
display_fail = false;
}
pre_arm_checks(display_fail);

7
libraries/AP_Arming/AP_Arming.h
View File

@ -126,9 +126,12 @@ public:
Method last_disarm_method() const { return _last_disarm_method; }
// enum for ARMING_OPTIONS parameter
enum class ArmingOptions : int32_t {
enum class Option : int32_t {
DISABLE_PREARM_DISPLAY = (1U << 0),
};
bool option_enabled(Option option) const {
return (_arming_options & uint32_t(option)) != 0;
}
protected:
@ -256,6 +259,8 @@ private:
// method that was last used for disarm; invalid unless the
// vehicle has been disarmed at least once.
Method _last_disarm_method = Method::UNKNOWN;
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
};
namespace AP {