Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: add arming check for logging actually started

This commit is contained in:
Peter Barker 2016-11-06 10:23:14 +11:00 committed by Tom Pittenger
parent 3fbcf40a1a
commit fff2068a5a
2 changed files with 19 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_Arming/AP_Arming.cpp
View File

@ -146,8 +146,8 @@ bool AP_Arming::logging_checks(bool report)
if (DataFlash_Class::instance()->logging_failed()) { if (DataFlash_Class::instance()->logging_failed()) {
if (report) { if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Logging failed");
return false;
} }
return false;
} }
if (!DataFlash_Class::instance()->CardInserted()) { if (!DataFlash_Class::instance()->CardInserted()) {
if (report) { if (report) {
@ -465,6 +465,18 @@ bool AP_Arming::pre_arm_checks(bool report)
return ret; return ret;
} }
bool AP_Arming::arm_checks(uint8_t method)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
if (!DataFlash_Class::instance()->logging_started()) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
return false;
}
}
return true;
}
//returns true if arming occurred successfully //returns true if arming occurred successfully
bool AP_Arming::arm(uint8_t method) bool AP_Arming::arm(uint8_t method)
{ {
@ -480,7 +492,7 @@ bool AP_Arming::arm(uint8_t method)
return true; return true;
} }
if (pre_arm_checks(true)) { if (pre_arm_checks(true) && arm_checks(method)) {
armed = true; armed = true;
arming_method = method; arming_method = method;

6
libraries/AP_Arming/AP_Arming.h
View File

@ -47,7 +47,7 @@ public:
const AP_BattMonitor &battery, const enum HomeState &home_set); const AP_BattMonitor &battery, const enum HomeState &home_set);
ArmingRequired arming_required(); ArmingRequired arming_required();
bool arm(uint8_t method); virtual bool arm(uint8_t method);
bool disarm(); bool disarm();
bool is_armed(); bool is_armed();
ArmingRudder rudder_arming() const { return (ArmingRudder)rudder_arming_value.get(); } ArmingRudder rudder_arming() const { return (ArmingRudder)rudder_arming_value.get(); }
@ -58,6 +58,10 @@ public:
in a vehicle specific subclass in a vehicle specific subclass
*/ */
virtual bool pre_arm_checks(bool report); virtual bool pre_arm_checks(bool report);
// some arming checks have side-effects, or require some form of state
// change to have occured, and thus should not be done as pre-arm
// checks. Those go here:
bool arm_checks(uint8_t method);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];