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AP_Arming: add arm/disarm controlled GPIO for module power control

This commit is contained in:
Henry Wurzburg 2023-11-16 16:04:20 -06:00 committed by Andrew Tridgell
parent afa263c691
commit fffe3afb28
2 changed files with 17 additions and 2 deletions
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17
libraries/AP_Arming/AP_Arming.cpp
View File

@ -1681,7 +1681,9 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
} }
} }
#endif #endif
#if defined(HAL_ARM_GPIO_PIN)
update_arm_gpio();
#endif
return armed; return armed;
} }
@ -1721,10 +1723,21 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
} }
} }
#endif #endif
#if defined(HAL_ARM_GPIO_PIN)
update_arm_gpio();
#endif
return true; return true;
} }
#if defined(HAL_ARM_GPIO_PIN)
void AP_Arming::update_arm_gpio()
{
if (!AP_BoardConfig::arming_gpio_disabled()) {
hal.gpio->write(HAL_ARM_GPIO_PIN, HAL_ARM_GPIO_POL_INVERT ? !armed : armed);
}
}
#endif
void AP_Arming::send_arm_disarm_statustext(const char *str) const void AP_Arming::send_arm_disarm_statustext(const char *str) const
{ {
if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) { if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) {

2
libraries/AP_Arming/AP_Arming.h
View File

@ -303,6 +303,8 @@ private:
uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
void update_arm_gpio();
}; };
namespace AP { namespace AP {