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Rover: AP_Arming now logs arm/disarm events

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Peter Barker 2019-10-05 08:41:57 +10:00 committed by Andrew Tridgell
parent 6b94710e4e
commit d2520b7a94
2 changed files with 2 additions and 15 deletions
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14
APMrover2/AP_Arming.cpp
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@ -105,15 +105,6 @@ void AP_Arming_Rover::update_soft_armed()
AP::logger().set_vehicle_armed(hal.util->get_soft_armed()); AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
} }
/*
update AHRS soft arm state and log as needed
*/
void AP_Arming_Rover::change_arm_state(void)
{
Log_Write_Arm_Disarm();
update_soft_armed();
}
/* /*
arm motors arm motors
*/ */
@ -133,7 +124,7 @@ bool AP_Arming_Rover::arm(AP_Arming::Method method, const bool do_arming_checks)
// save home heading for use in sail vehicles // save home heading for use in sail vehicles
rover.g2.windvane.record_home_heading(); rover.g2.windvane.record_home_heading();
change_arm_state(); update_soft_armed();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed"); gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
@ -153,8 +144,7 @@ bool AP_Arming_Rover::disarm(void)
rover.mode_auto.mission.reset(); rover.mode_auto.mission.reset();
} }
// only log if disarming was successful update_soft_armed();
change_arm_state();
gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed"); gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");

3
APMrover2/AP_Arming.h
View File

@ -31,7 +31,4 @@ protected:
bool oa_check(bool report); bool oa_check(bool report);
bool parameter_checks(bool report); bool parameter_checks(bool report);
private:
void change_arm_state(void);
}; };