Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs

This API predates us having the arming methods being passed around.

This makes the calls look like Plane

ArduCopter/AP_Arming.cpp

@@ -653,7 +653,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 #endif
 
     // always check if the current mode allows arming
-    if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
+    if (!copter.flightmode->allows_arming(method)) {
         check_failed(true, "Mode not armable");
         return false;
     }

ArduCopter/land_detector.cpp

@@ -118,7 +118,7 @@ void Copter::set_land_complete(bool b)
     
     // trigger disarm-on-land if configured
     bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
-    const bool mode_disarms_on_land = flightmode->allows_arming(false) && !flightmode->has_manual_throttle();
+    const bool mode_disarms_on_land = flightmode->allows_arming(AP_Arming::Method::LANDING) && !flightmode->has_manual_throttle();
 
     if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
         arming.disarm(AP_Arming::Method::LANDED);

ArduCopter/mode.h

@@ -55,7 +55,7 @@ public:
     virtual void run() = 0;
     virtual bool requires_GPS() const = 0;
     virtual bool has_manual_throttle() const = 0;
-    virtual bool allows_arming(bool from_gcs) const = 0;
+    virtual bool allows_arming(AP_Arming::Method method) const = 0;
     virtual bool is_autopilot() const { return false; }
     virtual bool has_user_takeoff(bool must_navigate) const { return false; }
     virtual bool in_guided_mode() const { return false; }
@@ -272,7 +272,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return true; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool init(bool ignore_checks) override;
     void exit();
@@ -324,7 +324,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override {
         return !must_navigate;
@@ -354,7 +354,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override;
+    bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const override { return mode() == Auto_NavGuided; }
 
@@ -558,7 +558,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; }
+    bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return false; }
 
     void save_tuning_gains();
@@ -585,7 +585,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
 
     void timeout_to_loiter_ms(uint32_t timeout_ms);
@@ -617,7 +617,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
 
 protected:
@@ -648,7 +648,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
 
 protected:
@@ -675,7 +675,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
 
 protected:
@@ -721,7 +721,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override {
         return !must_navigate;
@@ -805,7 +805,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override;
+    bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
     bool in_guided_mode() const override { return true; }
@@ -905,7 +905,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
 
     bool is_landing() const override { return true; };
@@ -946,7 +946,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
     bool allows_autotune() const override { return true; }
@@ -989,7 +989,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
     bool allows_autotune() const override { return true; }
@@ -1074,7 +1074,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
 
     bool requires_terrain_failsafe() const override { return true; }
@@ -1181,7 +1181,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; }
+    bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
 
     void save_position();
@@ -1227,7 +1227,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override {
         return !must_navigate;
@@ -1254,7 +1254,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return true; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool allows_save_trim() const override { return true; }
     bool allows_autotune() const override { return true; }
@@ -1297,7 +1297,7 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return true; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
     bool logs_attitude() const override { return true; }
 
@@ -1366,7 +1366,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
 
     // Throw types
@@ -1423,7 +1423,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; }
+    bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
 
     bool set_velocity(const Vector3f& velocity_neu);
@@ -1451,7 +1451,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; }
+    bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
 
 protected:
@@ -1499,7 +1499,7 @@ public:
 
     bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return true; }
+    bool allows_arming(AP_Arming::Method method) const override { return true; }
     bool is_autopilot() const override { return true; }
 
     // save current position as A or B.  If both A and B have been saved move to the one specified
@@ -1575,7 +1575,7 @@ public:
     bool is_autopilot() const override { return true; }
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return false; };
+    bool allows_arming(AP_Arming::Method method) const override { return false; };
 
     static const struct AP_Param::GroupInfo  var_info[];
 

ArduCopter/mode_auto.cpp

@@ -117,7 +117,7 @@ void ModeAuto::run()
     }
 }
 
-bool ModeAuto::allows_arming(bool from_gcs) const
+bool ModeAuto::allows_arming(AP_Arming::Method method) const
 {
     return (copter.g2.auto_options & (uint32_t)Options::AllowArming) != 0;
 };

ArduCopter/mode_guided.cpp

@@ -86,10 +86,10 @@ void ModeGuided::run()
     }
  }
 
-bool ModeGuided::allows_arming(bool from_gcs) const
+bool ModeGuided::allows_arming(AP_Arming::Method method) const
 {
     // always allow arming from the ground station
-    if (from_gcs) {
+    if (method == AP_Arming::Method::MAVLINK) {
         return true;
     }