mirror of https://github.com/ArduPilot/ardupilot
AP_Arming: add arm/disarm controlled GPIO for module power control
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@ -1681,7 +1681,9 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
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}
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}
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}
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}
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#endif
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#endif
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#if defined(HAL_ARM_GPIO_PIN)
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update_arm_gpio();
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#endif
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return armed;
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return armed;
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}
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}
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@ -1721,10 +1723,21 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
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}
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}
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}
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}
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#endif
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#endif
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#if defined(HAL_ARM_GPIO_PIN)
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update_arm_gpio();
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#endif
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return true;
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return true;
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}
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}
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#if defined(HAL_ARM_GPIO_PIN)
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void AP_Arming::update_arm_gpio()
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{
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if (!AP_BoardConfig::arming_gpio_disabled()) {
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hal.gpio->write(HAL_ARM_GPIO_PIN, HAL_ARM_GPIO_POL_INVERT ? !armed : armed);
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}
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}
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#endif
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void AP_Arming::send_arm_disarm_statustext(const char *str) const
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void AP_Arming::send_arm_disarm_statustext(const char *str) const
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{
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{
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if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) {
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if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) {
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@ -303,6 +303,8 @@ private:
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uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
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uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
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bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
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bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
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void update_arm_gpio();
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};
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};
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namespace AP {
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namespace AP {
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