Sub: Add AP_Arming_Sub class

ArduSub/AP_Arming_Sub.cpp

@@ -0,0 +1,7 @@
+#include "AP_Arming_Sub.h"
+#include "Sub.h"
+
+enum HomeState AP_Arming_Sub::home_status() const
+{
+    return sub.ap.home_state;
+}

ArduSub/AP_Arming_Sub.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <AP_Arming/AP_Arming.h>
+
+class AP_Arming_Sub : public AP_Arming {
+public:
+    AP_Arming_Sub(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
+                    const AP_BattMonitor &battery) :
+        AP_Arming(ahrs_ref, baro, compass, battery) {
+            AP_Param::setup_object_defaults(this, var_info);
+    }
+
+protected:
+    enum HomeState home_status() const override;
+};

ArduSub/Parameters.cpp

@@ -353,14 +353,6 @@ const AP_Param::Info Sub::var_info[] = {
     GSCALAR(ch12_option, "CH12_OPT",                AUXSW_DO_NOTHING),
 #endif
 
-    // @Param: ARMING_CHECK
-    // @DisplayName: Arming check
-    // @Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
-    // @Values: 0:Disabled, 1:Enabled, -3:Skip Baro, -5:Skip Compass, -9:Skip GPS, -17:Skip INS, -33:Skip Params/Rangefinder, -65:Skip RC, 127:Skip Voltage
-    // @Bitmask: 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage
-    // @User: Standard
-    GSCALAR(arming_check, "ARMING_CHECK",           ARMING_CHECK_NONE),
-
     // @Param: DISARM_DELAY
     // @DisplayName: Disarm delay
     // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
@@ -746,6 +738,10 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
 
+    // @Group: ARMING_
+    // @Path: AP_Arming_Sub.cpp,../libraries/AP_Arming/AP_Arming.cpp
+    GOBJECT(arming, "ARMING_", AP_Arming_Sub),
+
     // @Group: BRD_
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
@@ -958,6 +954,14 @@ void Sub::load_parameters(void)
 
     AP_Param::set_default_by_name("BRD_SAFETYENABLE", 0);
     AP_Param::set_default_by_name("GND_EXT_BUS", 1);
+    AP_Param::set_default_by_name("ARMING_CHECK",
+            AP_Arming::ARMING_CHECK_BARO |
+            AP_Arming::ARMING_CHECK_COMPASS |
+            AP_Arming::ARMING_CHECK_INS |
+            AP_Arming::ARMING_CHECK_RC |
+            AP_Arming::ARMING_CHECK_VOLTAGE |
+            AP_Arming::ARMING_CHECK_BATTERY |
+            AP_Arming::ARMING_CHECK_LOGGING);
 }
 
 void Sub::convert_old_parameters(void)

ArduSub/Parameters.h

@@ -69,6 +69,7 @@ public:
         k_param_serial_manager, // Serial ports, AP_SerialManager
         k_param_notify, // Notify Library, AP_Notify
         k_param_cli_enabled, // Old (deprecated) command line interface
+        k_param_arming, // Arming checks
 
 
         // Sensor objects
@@ -185,7 +186,7 @@ public:
 
         // Misc Sub settings
         k_param_log_bitmask = 165,
-        k_param_arming_check,
+        k_param_arming_check, // deprecated, remove
         k_param_angle_max,
         k_param_rangefinder_gain,
         k_param_gps_hdop_good,
@@ -310,7 +311,6 @@ public:
     AP_Int8         ch10_option;
     AP_Int8         ch11_option;
     AP_Int8         ch12_option;
-    AP_Int8         arming_check;
     AP_Int8         disarm_delay;
 
     AP_Int8         fs_ekf_action;

ArduSub/Sub.h

@@ -83,6 +83,7 @@
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
 #include <AP_TemperatureSensor/TSYS01.h>
+#include "AP_Arming_Sub.h"
 #include "defines.h"
 #include "config.h"
 
@@ -121,6 +122,7 @@ public:
     friend class GCS_MAVLINK_Sub;
     friend class Parameters;
     friend class ParametersG2;
+    friend class AP_Arming_Sub;
 
     Sub(void);
 
@@ -349,6 +351,8 @@ private:
     // Battery Sensors
     AP_BattMonitor battery;
 
+    AP_Arming_Sub arming {ahrs, barometer, compass, battery};
+
     // Altitude
     // The cm/s we are moving up or down based on filtered data - Positive = UP
     int16_t climb_rate;

ArduSub/make.inc

@@ -56,3 +56,4 @@ LIBRARIES += AP_LeakDetector
 LIBRARIES += AP_Gripper
 LIBRARIES += AP_Beacon
 LIBRARIES += AP_TemperatureSensor
+LIBRARIES += AP_Arming

ArduSub/wscript

@@ -25,7 +25,8 @@ def build(bld):
             'AP_Proximity',
             'AP_Gripper',
             'AP_Beacon',
-            'AP_TemperatureSensor'
+            'AP_TemperatureSensor',
+            'AP_Arming'
         ],
     )